Add planner tests

tests/benchmarks/deterministic/BF/blocksworld_ppltl/domain.pddl

@@ -0,0 +1,50 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; 4 Op-blocks world
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain blocks-domain)
+  (:requirements :strips :typing :disjunctive-preconditions)
+  (:types block)
+  (:predicates
+	       (ontable ?x - block)
+	       (on ?x ?y - block)
+	       (clear ?x - block)
+	       (emptyhand)
+	       (holding ?x - block)
+	       )
+
+  (:action pick-up
+	     :parameters (?x - block)
+	     :precondition (and (clear ?x) (ontable ?x) (emptyhand))
+	     :effect
+	     (and (not (ontable ?x))
+		   (not (clear ?x))
+		   (not (emptyhand))
+		   (holding ?x)))
+
+  (:action put-down
+	     :parameters (?x - block)
+	     :precondition (holding ?x)
+	     :effect
+	     (and (not (holding ?x))
+		   (clear ?x)
+		   (emptyhand)
+		   (ontable ?x)))
+  (:action stack
+	     :parameters (?x ?y - block)
+	     :precondition (and (holding ?x) (clear ?y))
+	     :effect
+	     (and (not (holding ?x))
+		   (not (clear ?y))
+		   (clear ?x)
+		   (emptyhand)
+		   (on ?x ?y)))
+  (:action unstack
+	     :parameters (?x ?y - block)
+	     :precondition (and (on ?x ?y) (clear ?x) (emptyhand))
+	     :effect
+	     (and (holding ?x)
+		   (clear ?y)
+		   (not (clear ?x))
+		   (not (emptyhand))
+		   (not (on ?x ?y)))))

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p10.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (ontable b5) (ontable b6) (ontable b7) (ontable b8) (ontable b9) (ontable b10) (clear b1) (clear b2) (clear b3) (clear b4) (clear b5) (clear b6) (clear b7) (clear b8) (clear b9) (clear b10))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p2.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (clear b1) (clear b2))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p3.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (clear b1) (clear b2) (clear b3))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p4.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (clear b1) (clear b2) (clear b3) (clear b4))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p5.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (ontable b5) (clear b1) (clear b2) (clear b3) (clear b4) (clear b5))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p6.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 b6 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (ontable b5) (ontable b6) (clear b1) (clear b2) (clear b3) (clear b4) (clear b5) (clear b6))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p7.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 b6 b7 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (ontable b5) (ontable b6) (ontable b7) (clear b1) (clear b2) (clear b3) (clear b4) (clear b5) (clear b6) (clear b7))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p8.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 b6 b7 b8 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (ontable b5) (ontable b6) (ontable b7) (ontable b8) (clear b1) (clear b2) (clear b3) (clear b4) (clear b5) (clear b6) (clear b7) (clear b8))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/blocksworld_ppltl/p9.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 b6 b7 b8 b9 - block)
+  (:init (emptyhand) (ontable b1) (ontable b2) (ontable b3) (ontable b4) (ontable b5) (ontable b6) (ontable b7) (ontable b8) (ontable b9) (clear b1) (clear b2) (clear b3) (clear b4) (clear b5) (clear b6) (clear b7) (clear b8) (clear b9))
+  (:goal (and (emptyhand)))
+)

tests/benchmarks/deterministic/BF/elevators_ppltl/domain.pddl

@@ -0,0 +1,66 @@
+(define (domain miconic)
+  (:requirements :strips :typing :disjunctive-preconditions)
+  (:types passenger - object
+          floor - object
+         )
+
+(:predicates 
+(origin ?person - passenger ?floor - floor)
+;; entry of ?person is ?floor
+;; inertia
+
+(destin ?person - passenger ?floor - floor)
+;; exit of ?person is ?floor
+;; inertia
+
+(above ?floor1 - floor  ?floor2 - floor)
+;; ?floor2 is located above of ?floor1
+
+(boarded ?person - passenger)
+;; true if ?person has boarded the lift
+
+(not-boarded ?person - passenger)
+;; true if ?person has not boarded the lift
+
+(served ?person - passenger)
+;; true if ?person has alighted as her destination
+
+(not-served ?person - passenger)
+;; true if ?person is not at their destination
+
+(lift-at ?floor - floor)
+;; current position of the lift is at ?floor
+)
+
+
+;;stop and allow boarding
+
+(:action board
+  :parameters (?f - floor ?p - passenger)
+  :precondition (and (lift-at ?f) (origin ?p ?f))
+  :effect (boarded ?p))
+
+(:action depart
+  :parameters (?f - floor ?p - passenger)
+  :precondition (and (lift-at ?f) (destin ?p ?f)
+		     (boarded ?p))
+  :effect (and (not (boarded ?p))
+	       (served ?p)))
+;;drive up
+
+(:action up
+  :parameters (?f1 - floor ?f2 - floor)
+  :precondition (and (lift-at ?f1) (above ?f1 ?f2))
+  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
+
+
+;;drive down
+
+(:action down
+  :parameters (?f1 - floor ?f2 - floor)
+  :precondition (and (lift-at ?f1) (above ?f2 ?f1))
+  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
+)
+
+
+