gistfile1.txt

begin_version
3
end_version
begin_metric
0
end_metric
7

# This is probably a ball
begin_variable
var-0
-1
4
Atom var-0(0)   # InRoom RoomA
Atom var-0(1)   # InRoom RoomB
Atom var-0(2)   # InGripper
Atom dummy(dummy) # Not part of our modelling
end_variable

# Another ball
begin_variable
var-1
-1
4
Atom var-1(0)
Atom var-1(1)
Atom var-1(2)
Atom dummy(dummy)
end_variable
begin_variable
var-2
-1
4
Atom var-2(0)
Atom var-2(1)
Atom var-2(2)
Atom dummy(dummy)
end_variable
begin_variable
var-3
-1
4
Atom var-3(0)
Atom var-3(1)
Atom var-3(2)
Atom dummy(dummy)
end_variable
begin_variable
var-4
-1
3
Atom var-4(0)
Atom var-4(1)
Atom dummy(dummy)
end_variable

# Probably the robot location
begin_variable
var-5
-1
3
Atom var-5(0) # room A
Atom var-5(1) # room B
Atom dummy(dummy)
end_variable

# The grippers
begin_variable
var-6
-1
3
Atom var-6(0)
Atom var-6(1)
Atom dummy(dummy)
end_variable
0


begin_state
0
0
0
0
0
0
0
end_state


begin_goal
4
0 1 # Variable 0 = value 1   ---> ball 1 is in room B
1 1
2 1
3 1
end_goal

# 34 Operators derived from our "Effect" actions.
34


begin_operator
op0
1
4 0       # Variable 4 must take value 0 (robot location = room A)
2
0 0 0 2   # Transition variable 0 from value 0 to value 2 (in room A -> in gripper)
0 5 0 1   # Transition variable 5 from value 0 to value 1 (gripper 1 empty -> holding ball)
0
end_operator
begin_operator
op1
1
4 1
2
0 0 1 2
0 5 0 1
0
end_operator
begin_operator
op2
1
4 0
2
0 0 0 2
0 6 0 1
0
end_operator
begin_operator
op3
1
4 1
2
0 0 1 2
0 6 0 1
0
end_operator
begin_operator
op4
1
4 0
2
0 1 0 2
0 5 0 1
0
end_operator
begin_operator
op5
1
4 1
2
0 1 1 2
0 5 0 1
0
end_operator
begin_operator
op6
1
4 0
2
0 1 0 2
0 6 0 1
0
end_operator
begin_operator
op7
1
4 1
2
0 1 1 2
0 6 0 1
0
end_operator
begin_operator
op8
1
4 0
2
0 2 0 2
0 5 0 1
0
end_operator
begin_operator
op9
1
4 1
2
0 2 1 2
0 5 0 1
0
end_operator
begin_operator
op10
1
4 0
2
0 2 0 2
0 6 0 1
0
end_operator
begin_operator
op11
1
4 1
2
0 2 1 2
0 6 0 1
0
end_operator
begin_operator
op12
1
4 0
2
0 3 0 2
0 5 0 1
0
end_operator
begin_operator
op13
1
4 1
2
0 3 1 2
0 5 0 1
0
end_operator
begin_operator
op14
1
4 0
2
0 3 0 2
0 6 0 1
0
end_operator
begin_operator
op15
1
4 1
2
0 3 1 2
0 6 0 1
0
end_operator
begin_operator
op16
1
4 0
2
0 0 2 0
0 5 1 0
0
end_operator
begin_operator
op17
1
4 1
2
0 0 2 1
0 5 1 0
0
end_operator
begin_operator
op18
1
4 0
2
0 0 2 0
0 6 1 0
0
end_operator
begin_operator
op19
1
4 1
2
0 0 2 1
0 6 1 0
0
end_operator
begin_operator
op20
1
4 0
2
0 1 2 0
0 5 1 0
0
end_operator
begin_operator
op21
1
4 1
2
0 1 2 1
0 5 1 0
0
end_operator
begin_operator
op22
1
4 0
2
0 1 2 0
0 6 1 0
0
end_operator
begin_operator
op23
1
4 1
2
0 1 2 1
0 6 1 0
0
end_operator
begin_operator
op24
1
4 0
2
0 2 2 0
0 5 1 0
0
end_operator
begin_operator
op25
1
4 1
2
0 2 2 1
0 5 1 0
0
end_operator
begin_operator
op26
1
4 0
2
0 2 2 0
0 6 1 0
0
end_operator
begin_operator
op27
1
4 1
2
0 2 2 1
0 6 1 0
0
end_operator
begin_operator
op28
1
4 0
2
0 3 2 0
0 5 1 0
0
end_operator
begin_operator
op29
1
4 1
2
0 3 2 1
0 5 1 0
0
end_operator
begin_operator
op30
1
4 0
2
0 3 2 0
0 6 1 0
0
end_operator
begin_operator
op31
1
4 1
2
0 3 2 1
0 6 1 0
0
end_operator
begin_operator
op32
0
1
0 4 0 1
0
end_operator
begin_operator
op33
0
1
0 4 1 0
0
end_operator
0