notes on the invalid issue KCL-Planning#22

Makefile

@@ -462,6 +462,7 @@ jdepend:
 .PHONY : test
 test: all
 	issue-21/run.sh
+# issue-22/run.sh
 
 # DO NOT DELETE THIS LINE -- makemake depends on it.
 

issue-22/domain.pddl

@@ -0,0 +1,32 @@
+(define (domain lights)
+  (:requirements :conditional-effects)
+  (:predicates
+   (light-on ?r)
+   (in ?r)
+   (CONNECTED ?r ?rn)
+   )
+
+  (:action toggle-light
+           :parameters (?room ?rightroom)
+           :precondition (and
+                          (CONNECTED ?room ?rightroom))
+           :effect
+           (when (light-on ?room)
+             (and
+              (not (light-on ?room))
+              (when (in ?room) (and
+                                (not (in ?room))
+                                (in ?rightroom)))))))
+
+;; Nested cond-effect is not allowed in the BNF definition of PDDL 3.1.
+;; This issue is therefore invalid
+;; 
+;; <effect>       ::= (and <c-effect>*)                                              
+;; <effect>       ::= <c-effect>                                                     
+;; <c-effect>     ::=:conditional−effects (forall (<typed list (variable)>) <effect>)
+;; <c-effect>     ::=:conditional−effects (when <GD> <cond-effect>)                 
+;; <c-effect>     ::= <p-effect>                                                     
+;; <p-effect>     ::= (not <atomic formula(term)>)                                   
+;; <p-effect>     ::= <atomic formula(term)>                                         
+;; <cond-effect>  ::= (and <p-effect>*)                                              
+;; <cond-effect>  ::= <p-effect>                                                     

issue-22/plan

@@ -0,0 +1 @@
+(toggle-light room1 room2)

issue-22/problem.pddl

@@ -0,0 +1,13 @@
+(define (problem p01)
+(:domain lights)
+(:objects
+    room1
+    room2
+)
+(:init
+    (light-on room1)
+    (in room1)
+    (CONNECTED room1 room2)
+)
+(:goal (in room2))
+)

issue-22/run.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+dir=$(dirname $(readlink -ef $0))
+
+cd $dir
+
+../validate -v domain.pddl problem.pddl plan