Inputs to pandaPIparser for verification

domain.hddl

(define (domain satellite)
  (:requirements :equality :typing :conditional-effects :negative-preconditions
                 :universal-preconditions :htn-method-prec)
  (:types satellite direction instrument mode)
  (:predicates
   (on_board ?i - instrument ?s - satellite)
   (supports ?i - instrument ?m - mode)
   (pointing ?s - satellite ?d - direction)
   (power_avail ?s - satellite)
   (power_on ?i - instrument)
   (calibrated ?i - instrument)
   (have_image ?d - direction ?m - mode)
   (calibration_target ?i - instrument ?d - direction)

   ;; translating goals to tasks
   (goal_have_image ?d - direction ?m - mode)
   (goal_pointing ?s - satellite ?d - direction))


  (:task main)
  (:task have-image :parameters (?d - direction ?m - mode))
  (:task take-image :parameters (?s - satellite ?i - instrument ?d - direction ?m - mode))
  (:task prepare-instrument :parameters (?s - satellite ?i - instrument))
  (:task turn-on-instrument :parameters (?s - satellite ?i - instrument))
  (:task calibrate-instrument :parameters (?s - satellite ?i - instrument))

  (:action turn_to
    :parameters (?s - satellite ?d_new - direction ?d_prev - direction)
    :precondition (and (pointing ?s ?d_prev)
                       (not (= ?d_new ?d_prev))
                       )
    :effect (and  (pointing ?s ?d_new)
                  (not (pointing ?s ?d_prev))
                  )
    )


  (:action switch_on
    :parameters (?i - instrument ?s - satellite)

    :precondition (and (on_board ?i ?s)
                       (power_avail ?s)
                       )
    :effect (and (power_on ?i)
                 (when (calibrated ?i) (not (calibrated ?i)))
                 (not (power_avail ?s))
                 )

    )


  (:action switch_off
    :parameters (?i - instrument ?s - satellite)

    :precondition (and (on_board ?i ?s)
                       (power_on ?i)
                       )
    :effect (and (not (power_on ?i))
                 (power_avail ?s)
                 )
    )

  (:action calibrate
    :parameters (?s - satellite ?i - instrument ?d - direction)
    :precondition (and (on_board ?i ?s)
                       (calibration_target ?i ?d)
                       (pointing ?s ?d)
                       (power_on ?i)
                       )
    :effect (calibrated ?i)
    )


  (:action take_image
    :parameters (?s - satellite ?d - direction ?i - instrument ?m - mode)
    :precondition (and (calibrated ?i)
                       (on_board ?i ?s)
                       (supports ?i ?m)
                       (power_on ?i)
                       (pointing ?s ?d)
                       (power_on ?i)
                       )
    :effect (when (not (have_image ?d ?m)) (have_image ?d ?m))
    )

  (:method take-one
    :parameters (?d - direction ?m - mode)
    :task (main)
    :precondition (and
                   (goal_have_image ?d ?m)
                   (not (have_image ?d ?m)))
     :ordered-subtasks
     (and
      (have-image ?d ?m)
      (main)))

  (:method turn-first
    :parameters (?s - satellite ?d ?d1 - direction)
    :task (main)
    :precondition
    (and
     (goal_pointing ?s ?d)
     (pointing ?s ?d1)
     (not (= ?d ?d1)))

    :ordered-subtasks
    (and (turn_to ?s ?d ?d1)
     (main)))

  (:method all-done
    :parameters ()
    :task (main)
    :precondition
    (and (forall (?d - direction ?m - mode)
           (imply (goal_have_image ?d ?m)
                  (have_image ?d ?m)))
         (forall (?s - satellite ?d - direction)
           (imply
            (goal_pointing ?s ?d)
            (pointing ?s ?d))))

    :ordered-subtasks ())

  (:method prepare-then-take
    :parameters (?d - direction ?m - mode ?i - instrument ?s - satellite)
    :task (have-image ?d ?m)
    :precondition
    (on_board ?i ?s)
     :ordered-subtasks
     (and
      (prepare-instrument ?s ?i)
      (take-image ?s ?i ?d ?m)))

  (:method prepare
          :parameters (?i - instrument ?s - satellite)
          :task (prepare-instrument ?s ?i)
           :ordered-subtasks
           (and (turn-on-instrument ?s ?i)
                (calibrate-instrument ?s ?i)))

  (:method already-on
    :parameters (?i - instrument ?s - satellite)
    :task (turn-on-instrument ?s ?i)
    :precondition
    (power_on ?i)
    :ordered-subtasks
    ())

  (:method turn-on
    :parameters (?i - instrument ?s - satellite)
    :task (turn-on-instrument ?s ?i)
    :precondition
    (power_avail ?s)
    :ordered-subtasks
    (switch_on ?i ?s))

  (:method swap-instruments
    :parameters (?i ?j - instrument ?s - satellite)
    :task (turn-on-instrument ?s ?i)
    :precondition (and (power_on ?j)
                       (not (= ?i ?j)))
    :ordered-subtasks
    (and (switch_off ?j ?s)
         (switch_on ?i ?s)))


  (:method no-calibration-needed
    :parameters (?i - instrument ?s - satellite)
    :task (calibrate-instrument ?s ?i)
    :precondition
    (and (power_on ?i)
         (calibrated ?i))

    :ordered-subtasks ())

  (:method do-calibrate
    :parameters (?i - instrument ?s - satellite ?d - direction)
    :task (calibrate-instrument ?s ?i)
    :precondition
    (and
     (power_on ?i)
     (pointing ?s ?d)
     (calibration_target ?i ?d))
     :ordered-subtasks (calibrate ?s ?i ?d))

  (:method repoint-then-calibrate
    :parameters (?i - instrument ?s - satellite ?d ?d2 - direction)
    :task (calibrate-instrument ?s ?i)
    :precondition
    (and (pointing ?s ?d2)
         (calibration_target ?i ?d)
         (not (= ?d ?d2)))

    :ordered-subtasks (and (turn_to ?s ?d ?d2)
                           (calibrate ?s ?i ?d)))

    (:method simple-take-image
    :parameters (?s - satellite ?i - instrument ?d ?d-prev - direction ?m - mode)
    :task (take-image ?s ?i ?d ?m)
    :precondition
    (and
     (pointing ?s ?d))

    :ordered-subtasks
    (and (take_image ?s ?d ?i ?m)))

  (:method turn-then-take
    :parameters (?s - satellite ?i - instrument ?d ?d-prev - direction ?m - mode)
    :task (take-image ?s ?i ?d ?m)
    :precondition
    (and
     (pointing ?s ?d-prev)
     (not (pointing ?s ?d)))

    :ordered-subtasks
    (and (turn_to ?s ?d ?d-prev)
         (take_image ?s ?d ?i ?m))))

p01.hddl

(define (problem strips-sat-x-1)
 (:domain satellite)
 (:objects
   satellite0 - satellite
   instrument0 - instrument
   image1 - mode
   spectrograph2 - mode
   thermograph0 - mode
   star0 - direction
   groundstation1 - direction
   groundstation2 - direction
   phenomenon3 - direction
   phenomenon4 - direction
   star5 - direction
   phenomenon6 - direction)
 (:init
   (supports instrument0 thermograph0)
   (calibration_target instrument0 groundstation2)
   (on_board instrument0 satellite0)
   (power_avail satellite0)
   (pointing satellite0 phenomenon6)
   (goal_have_image phenomenon4 thermograph0)
   (goal_have_image star5 thermograph0)
   (goal_have_image phenomenon6 thermograph0))
 (:htn :ordered-subtasks (main))
 (:goal
  (and
    (have_image phenomenon4 thermograph0)
    (have_image star5 thermograph0)
    (have_image phenomenon6 thermograph0))))

p01.txt -- Plan file

==>
8 switch_on instrument0 satellite0 
9 turn_to satellite0 groundstation2 phenomenon6 
10 calibrate satellite0 instrument0 groundstation2 
11 turn_to satellite0 star5 groundstation2 
12 take_image_a satellite0 star5 instrument0 thermograph0 
19 turn_to satellite0 phenomenon6 star5 
20 take_image_a satellite0 phenomenon6 instrument0 thermograph0 
27 turn_to satellite0 phenomenon4 phenomenon6 
28 take_image_a satellite0 phenomenon4 instrument0 thermograph0 

root 1 
1 main -> take-one 2 3 
2 have_image star5 thermograph0 -> prepare-then-take 4 5 
4 prepare-instrument satellite0 instrument0 -> prepare 6 7 
6 turn-on-instrument satellite0 instrument0 -> turn-on 8 
7 calibrate-instrument satellite0 instrument0 -> repoint-then-calibrate 9 10 
5 take-image_t satellite0 instrument0 star5 thermograph0 -> turn-then-take 11 12 
3 main -> take-one 13 14 
13 have_image phenomenon6 thermograph0 -> prepare-then-take 15 16 
15 prepare-instrument satellite0 instrument0 -> prepare 17 18 
17 turn-on-instrument satellite0 instrument0 -> already-on 
18 calibrate-instrument satellite0 instrument0 -> no-calibration-needed 
16 take-image_t satellite0 instrument0 phenomenon6 thermograph0 -> turn-then-take 19 20 
14 main -> take-one 21 22 
21 have_image phenomenon4 thermograph0 -> prepare-then-take 23 24 
23 prepare-instrument satellite0 instrument0 -> prepare 25 26 
25 turn-on-instrument satellite0 instrument0 -> already-on 
26 calibrate-instrument satellite0 instrument0 -> no-calibration-needed 
24 take-image_t satellite0 instrument0 phenomenon4 thermograph0 -> turn-then-take 27 28 
22 main -> all-done 
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