[hddl] adding example

TP02/cooking_domain.hddl

+(define (domain cooking)
+	(:requirements :typing)
+    (:types
+        location - object
+		ingredient - object
+		agent      - object
+    )
+
+
+	(:predicates 
+				(at ?a - agent ?x - location)
+				(isIdle ?a - agent)
+		        (isChoppedOnion ?i - ingredient)
+                (isChopLoc ?l - location)
+                (isOnion ?i - ingredient)
+                (isCookLoc ?l - location)
+                (recipie ?o1 ?o2 ?o3 ?s - ingredient)
+                (recipie ?o ?co - ingredient)
+                (deliveryloc ?l - location)
+                (isReadyToServe ?i - ingredient)
+                (isServed ?i - ingredient)
+                (isActive ?a - agent)
+                (notenoughingredients)
+	)
+	
+    (:task goto
+        :parameters (?a - agent ?l - location)
+    )
+
+    (:task deliver_foods
+        :parameters (?a - agent)
+    )
+
+    (:task deliver_food
+        :parameters (?a - agent)
+    )
+
+	(:task cookrecipe
+	 :parameters (?a - agent)
+	)
+    
+    (:task deliver_ingredient
+        :parameters (?i - ingredient ?l - location)
+    )   
+
+    (:task prepare_ingredients
+        :parameters (?i - ingredient)
+    )  
+    (:task prepare_ingredient
+        :parameters (?i - ingredient)
+    )  
+
+
+
+    (:method m_deliver_food_ready
+        :parameters (?a - agent ?l - location ?i - ingredient)
+        :task (deliver_food ?a)
+        :precondition (and
+                        (deliveryloc ?l)
+                        (isReadyToServe ?i)
+                      )
+        :subtasks (and
+                       (goto ?a ?l)
+                       (serve ?a ?i ?l)         
+        )
+    )
+
+    (:method m_deliver_food_stop
+        :parameters (?a - agent)
+        :task (deliver_food ?a)
+        :precondition (and
+                        
+                      )
+        :subtasks (and
+                       (stop ?a)     
+        )
+    )  
+
+    (:method m_deliver_foods_notAnyFood
+        :parameters (?a - agent ?l - location)
+        :task (deliver_foods ?a)
+        :precondition (and
+                        (not-enough-ingredients)
+                        (at ?a ?l)
+                      )
+        :subtasks (and
+                    (idle ?a ?l) ;; can be removed 
+        )
+    ) 
+
+    (:method m_deliver_foods_loop
+        :parameters (?a - agent)
+        :task (deliver_foods ?a)
+        :precondition (and
+                         (isActive ?a)
+                      )
+        :subtasks (and
+                       (deliver_food ?a)  
+                       (deliver_foods ?a)  
+                       ;;(deliver_food ?a) 
+                       ;;(deliver_food ?a)   
+                       ;;(deliver_food ?a)                          
+                       ;;(deliver_food ?a)       
+        )
+    )
+    
+    (:method m_goto_already_there
+        :parameters (?a - agent ?l - location)
+        :task (goto ?a ?l)
+        :precondition (at ?a ?l)
+        :subtasks (and
+                    (idle ?a ?l) ;; can be removed
+                  )
+    )
+
+    (:method m_ingredient_there
+        :parameters (?i - ingredient ?l - location)
+        :task (deliver_ingredient ?i ?l)
+        :precondition (at ?i ?l)
+        :subtasks ()
+    )
+
+
+;;====== ACTIONS ===============================================
+
+ 	(:action idle 
+	   :parameters (?a - agent ?l - location)
+ 	   :precondition (and 
+                         )
+ 	   :effect (and (isIdle ?a))
+ 	)
+
+  	(:action yes 
+	   :parameters ()
+ 	   :precondition (and 
+                         )
+ 	   :effect ()
+ 	)   
+
+
+ 	(:action move 
+	   :parameters (?a - agent ?from ?to - location)
+ 	   :precondition (and 
+                          (at ?a ?from)
+                         )
+ 	   :effect (and (not (at ?a ?from)) (at ?a ?to))
+ 	)
+
+
+    (:action pickup
+        :parameters (?a - agent ?i - ingredient ?l - location)
+        :precondition (and
+            (at ?i ?l)
+            (at ?a ?l)
+        )
+        :effect (and
+            (not (at ?i ?l))
+            (ingredient-pickedByAgent ?a ?i)
+        )
+    )	
+
+
+    (:action drop
+        :parameters (?a - agent ?i - ingredient ?l - location)
+        :precondition (and
+            (ingredient-pickedByAgent ?a ?i)
+            (at ?a ?l)
+        )
+        :effect (and
+            (not (ingredient-pickedByAgent ?a ?i))
+            (at ?i ?l)
+        )
+    )
+
+      (:action stop
+        :parameters (?a - agent)
+        :precondition (and
+
+        )
+        :effect (and
+            (not-enough-ingredients)
+            (not (isActive ?a))
+        )
+    )  
+
+ 	(:action chop
+	   :parameters (?a - agent ?i - ingredient ?l - location)
+ 	   :precondition (and 
+                          (at ?a ?l)
+                          (at ?i ?l)
+                          (isChopLoc ?l)
+                         )
+ 	   :effect (and 
+            (isChoppedOnion ?i))
+ 	)
+
+ 	(:action cook
+	   :parameters (?a - agent ?o1 ?o2 ?o3 ?s - ingredient ?l - location)
+ 	   :precondition (and 
+                          (at ?a ?l)
+                          (isCookLoc ?l)
+                          (isChoppedOnion ?o1)
+                          (isChoppedOnion ?o2)
+                          (isChoppedOnion ?o3) 
+                          (at ?o1 ?l)    
+                          (at ?o2 ?l) 
+                          (at ?o3 ?l)                                                                                    
+                         )
+ 	   :effect (and 
+            (not (isChoppedOnion ?o1))
+            (not (isChoppedOnion ?o2))
+            (not (isChoppedOnion ?o3))
+            (not (at ?o1 ?l))
+            (not (at ?o2 ?l))
+            (not (at ?o3 ?l))
+            (isReadyToServe ?s)
+            (at ?s ?l)
+            )
+ 	)
+
+   	(:action serve
+	   :parameters (?a - agent ?i - ingredient ?l - location)
+ 	   :precondition (and 
+                          (at ?a ?l)  
+                          (deliveryloc ?l)  
+                          (isReadyToServe ?i)                                                                      
+                     )
+ 	   :effect (and 
+            (isServed ?i)
+            (not (isReadyToServe ?i))
+            )
+ 	)  
+
+   	(:action get_position
+	   :parameters (?a - agent ?l - location)
+ 	   :precondition (and 
+                          (at ?a ?l)                                                                      
+                     )
+ 	   :effect (and 
+            )
+ 	)  
+
+
+)
+

TP02/cooking_problem.hddl

+(define (problem cookSoup) (:domain cooking)
+	(:objects 
+	            centerloc choploc deliveryloc stockloc faraway cookLoc - location
+				a1 - agent
+				onion1 onion2 onion3 onion4 onion5 onion6 soup soupAlreadyReady soupFromRaw - ingredient
+    )
+    (:htn
+
+       ;;:tasks (and (deliver_food a1)(deliver_food a1))
+       :tasks (and (deliver_foods a1))
+
+	   :ordering ()
+	   :constraints ()
+	)
+	 
+	 (:init 
+
+
+        (at a1 deliveryloc)	 
+        ;(at a1 faraway)
+        (at onion1 cookLoc)
+        (at onion2 stockloc)		
+        (at onion3 stockloc)
+
+	    (at onion4 stockloc)
+        (at onion5 stockloc)		
+        (at onion6 stockloc)	
+
+		(isReadyToServe soupAlreadyReady)
+		(at soupAlreadyReady deliveryloc)		
+		;(at soupAlreadyReady cookLoc)
+
+        (isChoppedOnion onion1)
+        (isChoppedOnion onion2)	
+		(isChoppedOnion onion3)	
+		(isChoppedOnion onion4)			
+
+		(isChopLoc choploc)	
+		(isCookLoc cookLoc)		
+        (deliveryloc deliveryloc)
+
+		(connected centerloc cookLoc)
+		(connected cookLoc centerloc)
+		(connected centerloc choploc)
+		(connected choploc centerloc)
+		(connected centerloc stockloc)
+		(connected stockloc centerloc)	
+		(connected centerloc deliveryloc)
+		(connected deliveryloc centerloc)
+		(connected deliveryloc faraway)
+		(connected faraway deliveryloc)	
+
+		(recipie onion1 onion2 onion3 soup)
+		(recipie onion4 onion5 onion6 soupFromRaw)
+		(isActive a1)
+
+		;;(not-enough-ingredients)
+
+    )
+)