1:-include(library('ec_planner/ec_test_incl')). 2:-expects_dialect(pfc). 3 % loading(always,'examples/Mueller2006/Chapter11/HungryCat.e').
4%;
5%; Copyright (c) 2005 IBM Corporation and others.
6%; All rights reserved. This program and the accompanying materials
7%; are made available under the terms of the Common Public License v1.0
8%; which accompanies this distribution, and is available at
9%; http://www.eclipse.org/legal/cpl-v10.html
10%;
11%; Contributors:
12%; IBM - Initial implementation
13%;
14%; @inproceedings{WinikoffEtAl:2002,
15%; author = "Michael Winikoff and Lin Padgham and James Harland and John Thangarajah",
16%; year = "2002",
17%; title = "Declarative \& procedural goals in intelligent agent systems",
18%; editor = "Dieter Fensel and Fausto Giunchiglia and Deborah McGuinness and Mary-Anne Williams",
19%; booktitle = "\uppercase{P}roceedings of the \uppercase{E}ighth \uppercase{I}nternational \uppercase{C}onference on \uppercase{P}rinciples of \uppercase{K}nowledge \uppercase{R}epresentation and \uppercase{R}easoning",
20%; pages = "470--481",
21%; address = "San Francisco",
22%; publisher = "Morgan Kaufmann",
23%; }
24%;
25%; @book{Mueller:2006,
26%; author = "Erik T. Mueller",
27%; year = "2006",
28%; title = "Commonsense Reasoning",
29%; address = "San Francisco",
30%; publisher = "Morgan Kaufmann/Elsevier",
31%; }
32%;
33
34% load foundations/Root.e
35
36% load foundations/EC.e
37
38% sort object
39==> sort(object).
40
41% sort agent: object
42==> subsort(agent,object).
43
44% sort food: object
45==> subsort(food,object).
46
47% sort surface
48==> sort(surface).
49
50% sort plan
51==> sort(plan).
52
53% reified sort belief
54 % reified_sort(belief).
55==> mpred_prop(belief,reified_sort).
56
57% agent Cat
58==> t(agent,cat).
59
60% surface Floor, Chair, Shelf, Table
61==> t(surface,floor).
62==> t(surface,chair).
63==> t(surface,shelf).
64==> t(surface,table).
65
66% food Food1, Food2
67==> t(food,food1).
68==> t(food,food2).
69
70% plan P1, P1a, P1b, P2, P2a
71==> t(plan,p1).
72==> t(plan,p1a).
73==> t(plan,p1b).
74==> t(plan,p2).
75==> t(plan,p2a).
76
77% predicate SelectedPlan(agent,belief,plan,time)
78 % predicate(selectedPlan(agent,belief,plan,time)).
79==> mpred_prop(selectedPlan(agent,belief,plan,time),predicate).
80==> meta_argtypes(selectedPlan(agent,belief,plan,time)).
81
82% predicate SoundPlan(agent,belief,plan,time)
83 % predicate(soundPlan(agent,belief,plan,time)).
84==> mpred_prop(soundPlan(agent,belief,plan,time),predicate).
85==> meta_argtypes(soundPlan(agent,belief,plan,time)).
86
87% fluent On(object,surface)
88 % fluent(on(object,surface)).
89==> mpred_prop(on(object,surface),fluent).
90==> meta_argtypes(on(object,surface)).
91
92% fluent Goal(agent,belief)
93 % fluent(goal(agent,belief)).
94==> mpred_prop(goal(agent,belief),fluent).
95==> meta_argtypes(goal(agent,belief)).
96
97% fluent CanJump(surface,surface)
98 % fluent(canJump(surface,surface)).
99==> mpred_prop(canJump(surface,surface),fluent).
100==> meta_argtypes(canJump(surface,surface)).
101
102% fluent Plan(agent,belief,plan)
103 % fluent(plan(agent,belief,plan)).
104==> mpred_prop(plan(agent,belief,plan),fluent).
105==> meta_argtypes(plan(agent,belief,plan)).
106
107% fluent Satiated(agent)
108 % fluent(satiated(agent)).
109==> mpred_prop(satiated(agent),fluent).
110==> meta_argtypes(satiated(agent)).
111
112% fluent Believe(agent,belief)
113 % fluent(believe(agent,belief)).
114==> mpred_prop(believe(agent,belief),fluent).
115==> meta_argtypes(believe(agent,belief)).
116
117% event AddPlan(agent,belief,plan)
118 % event(addPlan(agent,belief,plan)).
119==> mpred_prop(addPlan(agent,belief,plan),event).
120==> meta_argtypes(addPlan(agent,belief,plan)).
121
122% event DropPlan(agent,belief,plan)
123 % event(dropPlan(agent,belief,plan)).
124==> mpred_prop(dropPlan(agent,belief,plan),event).
125==> meta_argtypes(dropPlan(agent,belief,plan)).
126
127% event Jump(agent,surface,surface)
128 % event(jump(agent,surface,surface)).
129==> mpred_prop(jump(agent,surface,surface),event).
130==> meta_argtypes(jump(agent,surface,surface)).
131
132% event Move(surface,surface,surface)
133 % event(move(surface,surface,surface)).
134==> mpred_prop(move(surface,surface,surface),event).
135==> meta_argtypes(move(surface,surface,surface)).
136
137% event Eat(agent,food)
138 % event(eat(agent,food)).
139==> mpred_prop(eat(agent,food),event).
140==> meta_argtypes(eat(agent,food)).
141
142% event Wait(agent)
143 % event(wait(agent)).
144==> mpred_prop(wait(agent),event).
145==> meta_argtypes(wait(agent)).
146
147% belief BSatiated(agent)
148==> t(belief,'bSatiated(agent)').
149
150% belief BCanJump(surface,surface)
151==> t(belief,'bCanJump(surface').
152==> t(belief,'surface)').
153
154% belief BOn(object,surface)
155==> t(belief,'bOn(object').
156==> t(belief,'surface)').
161axiom(initiates(addPlan(Agent, Belief, Plan), plan(Agent, Belief, Plan), Time),
162 []).
163
164
170axiom(terminates(dropPlan(Agent, Belief, Plan), plan(Agent, Belief, Plan), Time),
171 []).
172
173
180axiom(initiates(jump(Agent, Surface1, Surface2), on(Agent, Surface2), Time),
181
182 [ holds_at(on(Agent, Surface1), Time),
183 holds_at(canJump(Surface1, Surface2), Time)
184 ]).
185
186
193axiom(terminates(jump(Agent, Surface1, Surface2), on(Agent, Surface1), Time),
194
195 [ holds_at(on(Agent, Surface1), Time),
196 holds_at(canJump(Surface1, Surface2), Time)
197 ]).
198
199
204axiom(initiates(move(Surface1, Surface2, Surface3), canJump(Surface1, Surface3), Time),
205 []).
206
207
212axiom(terminates(move(Surface1, Surface2, Surface3), canJump(Surface1, Surface2), Time),
213 []).
214
215
222axiom(initiates(eat(Agent, Food), satiated(Agent), Time),
223
224 [ holds_at(on(Agent, Surface), Time),
225 holds_at(on(Food, Surface), Time)
226 ]).
227
228
235axiom(terminates(eat(Agent, Food), on(Food, Surface), Time),
236
237 [ holds_at(on(Agent, Surface), Time),
238 holds_at(on(Food, Surface), Time)
239 ]).
240
241
251axiom(initiates(jump(Agent, Surface1, Surface2), believe(Agent, Belief), Time),
252
253 [ holds_at(believe(Agent, bOn(Agent, Surface1)),
254 Time),
255 holds_at(believe(Agent, bCanJump(Surface1, Surface2)),
256 Time),
257 equals(Belief, bOn(Agent, Surface2))
258 ]).
259
260
270axiom(terminates(jump(Agent, Surface1, Surface2), believe(Agent, Belief), Time),
271
272 [ holds_at(believe(Agent, bOn(Agent, Surface1)),
273 Time),
274 holds_at(believe(Agent, bCanJump(Surface1, Surface2)),
275 Time),
276 equals(Belief, bOn(Agent, Surface1))
277 ]).
278
279
287axiom(initiates(move(Surface1, Surface2, Surface3), believe(Agent, Belief), Time),
288 [equals(Belief, bCanJump(Surface1, Surface3))]).
289
290
298axiom(terminates(move(Surface1, Surface2, Surface3), believe(Agent, Belief), Time),
299 [equals(Belief, bCanJump(Surface1, Surface2))]).
300
301
309axiom(initiates(eat(Agent, Food), believe(Agent, Belief), Time),
310
311 [ holds_at(believe(Agent, bOn(Agent, Surface)), Time),
312 holds_at(believe(Agent, bOn(Food, Surface)), Time),
313 equals(Belief, bSatiated(Agent))
314 ]).
315
316
324axiom(terminates(eat(Agent, Food), believe(Agent, Belief), Time),
325
326 [ holds_at(believe(Agent, bOn(Agent, Surface)), Time),
327 holds_at(believe(Agent, bOn(Food, Surface)), Time),
328 equals(Belief, bOn(Food, Surface))
329 ]).
330
331
343axiom(happens(addPlan(Agent, Belief, Plan), Time),
344
345 [ holds_at(goal(Agent, Belief), Time),
346 not(holds_at(believe(Agent, Belief), Time)),
347 selectedPlan(Agent, Belief, Plan, Time),
348 not(holds_at(plan(Agent, Belief, Plan1), Time))
349 ]).
350
351
360axiom(happens(jump(cat, floor, chair), Time),
361
362 [ holds_at(plan(Agent, Belief, p1), Time),
363 not(holds_at(believe(Agent, Belief), Time)),
364 soundPlan(Agent, Belief, p1, Time)
365 ]).
366
367
375axiom(happens(wait(cat), Time),
376
377 [ holds_at(plan(Agent, Belief, p1a), Time),
378 not(holds_at(believe(Agent, Belief), Time)),
379 soundPlan(Agent, Belief, p1a, Time)
380 ]).
381
382
390axiom(happens(jump(cat, chair, shelf), Time),
391
392 [ holds_at(plan(Agent, Belief, p2), Time),
393 not(holds_at(believe(Agent, Belief), Time)),
394 soundPlan(Agent, Belief, p2, Time)
395 ]).
396
397
404axiom(happens(dropPlan(Agent, Belief, Plan), Time),
405 [holds_at(plan(Agent, Belief, Plan), Time)]).
406
407
416axiom(happens(addPlan(Agent, Belief, p1a), Time),
417
418 [ holds_at(plan(Agent, Belief, p1), Time),
419 not(holds_at(believe(Agent, Belief), Time)),
420 soundPlan(Agent, Belief, p1, Time)
421 ]).
422
423
431axiom(happens(addPlan(Agent, Belief, p1b), Time),
432
433 [ holds_at(plan(Agent, Belief, p1a), Time),
434 not(holds_at(believe(Agent, Belief), Time)),
435 soundPlan(Agent, Belief, p1a, Time)
436 ]).
437
438
446axiom(happens(addPlan(Agent, Belief, p2a), Time),
447
448 [ holds_at(plan(Agent, Belief, p2), Time),
449 not(holds_at(believe(Agent, Belief), Time)),
450 soundPlan(Agent, Belief, p2, Time)
451 ]).
452
453
462axiom(happens(eat(Agent, Food), Time),
463
464 [ not(holds_at(satiated(Agent), Time)),
465 holds_at(on(Agent, Surface), Time),
466 holds_at(on(Food, Surface), Time)
467 ]).
468
469
472
473
476axiom(happens(move(chair, table, shelf), t2),
477 [is_time(2), b(t, t2), ignore(t+2=t2)]).
478
479
505
506 514axiom(selectedPlan(Agent, Belief, Plan, Time),
515
516 [ holds_at(believe(Agent, bOn(Agent, Surface1)),
517 Time),
518 holds_at(believe(Agent, bCanJump(Surface1, Surface2)),
519 Time),
520 holds_at(believe(Agent, bCanJump(Surface2, Surface3)),
521 Time),
522 holds_at(believe(Agent, bOn(Food, Surface3)), Time),
523 equals(Belief, bSatiated(Agent)),
524 equals(Plan, p1),
525 equals(Time, 0)
526 ]).
527axiom(selectedPlan(Agent, Belief, Plan, Time),
528
529 [ holds_at(believe(Agent, bOn(Agent, Surface18)),
530 Time),
531 holds_at(believe(Agent, bCanJump(Surface18, Surface29)),
532 Time),
533 holds_at(believe(Agent, bCanJump(Surface29, Surface310)),
534 Time),
535 holds_at(believe(Agent, bOn(Food11, Surface310)),
536 Time),
537 equals(Belief, bSatiated(Agent)),
538 equals(Plan, p2),
539 equals(Time, 4)
540 ]).
541
542 545todo_later(if(selectedPlan(Agent, Belief, Plan, Time), (exists([Surface1, Surface2, Surface3, Food], (holds_at(believe(Agent, bOn(Agent, Surface1)), Time), holds_at(believe(Agent, bCanJump(Surface1, Surface2)), Time), holds_at(believe(Agent, bCanJump(Surface2, Surface3)), Time), holds_at(believe(Agent, bOn(Food, Surface3)), Time), Belief=bSatiated(Agent), Plan=p1, Time=0));exists([Surface18, Surface29, Surface310, Food11], (holds_at(believe(Agent, bOn(Agent, Surface18)), Time), holds_at(believe(Agent, bCanJump(Surface18, Surface29)), Time), holds_at(believe(Agent, bCanJump(Surface29, Surface310)), Time), holds_at(believe(Agent, bOn(Food11, Surface310)), Time), Belief=bSatiated(Agent), Plan=p2, Time=4)))), [(not(selectedPlan(SelectedPlan_Param, Equals_Param, Equals_Param32, Time12)):-(not(holds_at(believe(SelectedPlan_Param, bOn(SelectedPlan_Param, BCanJump_Param)), Time12));not(holds_at(believe(SelectedPlan_Param, bCanJump(BCanJump_Param, BCanJump_Param29)), Time12));not(holds_at(believe(SelectedPlan_Param, bCanJump(BCanJump_Param29, BCanJump_Ret)), Time12));not(holds_at(believe(SelectedPlan_Param, bOn(BOn_Param, BCanJump_Ret)), Time12));not(equals(Equals_Param, bSatiated(SelectedPlan_Param)));not(equals(Equals_Param32, p1));not(equals(Time12, 0))), (not(holds_at(believe(SelectedPlan_Param, bOn(SelectedPlan_Param, BCanJump_Param33)), Time12));not(holds_at(believe(SelectedPlan_Param, bCanJump(BCanJump_Param33, BCanJump_Param34)), Time12));not(holds_at(believe(SelectedPlan_Param, bCanJump(BCanJump_Param34, BCanJump_Ret127)), Time12));not(holds_at(believe(SelectedPlan_Param, bOn(BOn_Param35, BCanJump_Ret127)), Time12));not(equals(Equals_Param, bSatiated(SelectedPlan_Param)));not(equals(Equals_Param32, p2));not(equals(Time12, 4)))), (holds_at(believe(Believe_Param, bOn(Believe_Param, BOn_Ret)), Time13):-(not(holds_at(believe(Believe_Param, bOn(Believe_Param, BCanJump_Param37)), Time13));not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param37, BCanJump_Param38)), Time13));not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param38, BCanJump_Ret129)), Time13));not(holds_at(believe(Believe_Param, bOn(BOn_Param39, BCanJump_Ret129)), Time13));not(equals(Equals_Param40, bSatiated(Believe_Param)));not(equals(Equals_Param41, p2));not(equals(Time13, 4))), selectedPlan(Believe_Param, Equals_Param40, Equals_Param41, Time13)), (holds_at(believe(Believe_Param42, bCanJump(BCanJump_Param43, BCanJump_Ret130)), Time14):-(not(holds_at(believe(Believe_Param42, bOn(Believe_Param42, BCanJump_Param44)), Time14));not(holds_at(believe(Believe_Param42, bCanJump(BCanJump_Param44, BCanJump_Param45)), Time14));not(holds_at(believe(Believe_Param42, bCanJump(BCanJump_Param45, BCanJump_Ret131)), Time14));not(holds_at(believe(Believe_Param42, bOn(BOn_Param46, BCanJump_Ret131)), Time14));not(equals(Equals_Param47, bSatiated(Believe_Param42)));not(equals(Equals_Param48, p2));not(equals(Time14, 4))), selectedPlan(Believe_Param42, Equals_Param47, Equals_Param48, Time14)), (holds_at(believe(Believe_Param49, bCanJump(BCanJump_Param50, BCanJump_Ret132)), Time15):-(not(holds_at(believe(Believe_Param49, bOn(Believe_Param49, BCanJump_Param51)), Time15));not(holds_at(believe(Believe_Param49, bCanJump(BCanJump_Param51, BCanJump_Param52)), Time15));not(holds_at(believe(Believe_Param49, bCanJump(BCanJump_Param52, BCanJump_Ret133)), Time15));not(holds_at(believe(Believe_Param49, bOn(BOn_Param53, BCanJump_Ret133)), Time15));not(equals(Equals_Param54, bSatiated(Believe_Param49)));not(equals(Equals_Param55, p2));not(equals(Time15, 4))), selectedPlan(Believe_Param49, Equals_Param54, Equals_Param55, Time15)), (holds_at(believe(Believe_Param56, bOn(BOn_Param57, BOn_Ret134)), Time16):-(not(holds_at(believe(Believe_Param56, bOn(Believe_Param56, BCanJump_Param58)), Time16));not(holds_at(believe(Believe_Param56, bCanJump(BCanJump_Param58, BCanJump_Param59)), Time16));not(holds_at(believe(Believe_Param56, bCanJump(BCanJump_Param59, BCanJump_Ret135)), Time16));not(holds_at(believe(Believe_Param56, bOn(BOn_Param60, BCanJump_Ret135)), Time16));not(equals(Equals_Param61, bSatiated(Believe_Param56)));not(equals(Equals_Param62, p2));not(equals(Time16, 4))), selectedPlan(Believe_Param56, Equals_Param61, Equals_Param62, Time16)), (equals(Equals_Param63, bSatiated(Believe_Param64)):-(not(holds_at(believe(Believe_Param64, bOn(Believe_Param64, BCanJump_Param65)), Time17));not(holds_at(believe(Believe_Param64, bCanJump(BCanJump_Param65, BCanJump_Param66)), Time17));not(holds_at(believe(Believe_Param64, bCanJump(BCanJump_Param66, BCanJump_Ret136)), Time17));not(holds_at(believe(Believe_Param64, bOn(BOn_Param67, BCanJump_Ret136)), Time17));not(equals(Equals_Param63, bSatiated(Believe_Param64)));not(equals(Equals_Param68, p2));not(equals(Time17, 4))), selectedPlan(Believe_Param64, Equals_Param63, Equals_Param68, Time17)), (equals(Equals_Param69, p1):-(not(holds_at(believe(Believe_Param70, bOn(Believe_Param70, BCanJump_Param71)), Time18));not(holds_at(believe(Believe_Param70, bCanJump(BCanJump_Param71, BCanJump_Param72)), Time18));not(holds_at(believe(Believe_Param70, bCanJump(BCanJump_Param72, BCanJump_Ret137)), Time18));not(holds_at(believe(Believe_Param70, bOn(BOn_Param73, BCanJump_Ret137)), Time18));not(equals(Equals_Param74, bSatiated(Believe_Param70)));not(equals(Equals_Param69, p2));not(equals(Time18, 4))), selectedPlan(Believe_Param70, Equals_Param74, Equals_Param69, Time18)), (equals(Time19, 0):-(not(holds_at(believe(Believe_Param75, bOn(Believe_Param75, BCanJump_Param76)), Time19));not(holds_at(believe(Believe_Param75, bCanJump(BCanJump_Param76, BCanJump_Param77)), Time19));not(holds_at(believe(Believe_Param75, bCanJump(BCanJump_Param77, BCanJump_Ret138)), Time19));not(holds_at(believe(Believe_Param75, bOn(BOn_Param78, BCanJump_Ret138)), Time19));not(equals(Equals_Param79, bSatiated(Believe_Param75)));not(equals(Equals_Param80, p2));not(equals(Time19, 4))), selectedPlan(Believe_Param75, Equals_Param79, Equals_Param80, Time19)), (holds_at(believe(Believe_Param81, bOn(Believe_Param81, BOn_Ret139)), Time20):-(not(holds_at(believe(Believe_Param81, bOn(Believe_Param81, BCanJump_Param82)), Time20));not(holds_at(believe(Believe_Param81, bCanJump(BCanJump_Param82, BCanJump_Param83)), Time20));not(holds_at(believe(Believe_Param81, bCanJump(BCanJump_Param83, BCanJump_Ret140)), Time20));not(holds_at(believe(Believe_Param81, bOn(BOn_Param84, BCanJump_Ret140)), Time20));not(equals(Equals_Param85, bSatiated(Believe_Param81)));not(equals(Equals_Param86, p1));not(equals(Time20, 0))), selectedPlan(Believe_Param81, Equals_Param85, Equals_Param86, Time20)), (holds_at(believe(Believe_Param87, bCanJump(BCanJump_Param88, BCanJump_Ret141)), Time21):-(not(holds_at(believe(Believe_Param87, bOn(Believe_Param87, BCanJump_Param89)), Time21));not(holds_at(believe(Believe_Param87, bCanJump(BCanJump_Param89, BCanJump_Param90)), Time21));not(holds_at(believe(Believe_Param87, bCanJump(BCanJump_Param90, BCanJump_Ret142)), Time21));not(holds_at(believe(Believe_Param87, bOn(BOn_Param91, BCanJump_Ret142)), Time21));not(equals(Equals_Param92, bSatiated(Believe_Param87)));not(equals(Equals_Param93, p1));not(equals(Time21, 0))), selectedPlan(Believe_Param87, Equals_Param92, Equals_Param93, Time21)), (holds_at(believe(Believe_Param94, bCanJump(BCanJump_Param95, BCanJump_Ret143)), Time22):-(not(holds_at(believe(Believe_Param94, bOn(Believe_Param94, BCanJump_Param96)), Time22));not(holds_at(believe(Believe_Param94, bCanJump(BCanJump_Param96, BCanJump_Param97)), Time22));not(holds_at(believe(Believe_Param94, bCanJump(BCanJump_Param97, BCanJump_Ret144)), Time22));not(holds_at(believe(Believe_Param94, bOn(BOn_Param98, BCanJump_Ret144)), Time22));not(equals(Equals_Param99, bSatiated(Believe_Param94)));not(equals(Equals_Param100, p1));not(equals(Time22, 0))), selectedPlan(Believe_Param94, Equals_Param99, Equals_Param100, Time22)), (holds_at(believe(Believe_Param101, bOn(BOn_Param102, BOn_Ret145)), Time23):-(not(holds_at(believe(Believe_Param101, bOn(Believe_Param101, BCanJump_Param103)), Time23));not(holds_at(believe(Believe_Param101, bCanJump(BCanJump_Param103, BCanJump_Param104)), Time23));not(holds_at(believe(Believe_Param101, bCanJump(BCanJump_Param104, BCanJump_Ret146)), Time23));not(holds_at(believe(Believe_Param101, bOn(BOn_Param105, BCanJump_Ret146)), Time23));not(equals(Equals_Param106, bSatiated(Believe_Param101)));not(equals(Equals_Param107, p1));not(equals(Time23, 0))), selectedPlan(Believe_Param101, Equals_Param106, Equals_Param107, Time23)), (equals(Equals_Param108, bSatiated(Believe_Param109)):-(not(holds_at(believe(Believe_Param109, bOn(Believe_Param109, BCanJump_Param110)), Time24));not(holds_at(believe(Believe_Param109, bCanJump(BCanJump_Param110, BCanJump_Param111)), Time24));not(holds_at(believe(Believe_Param109, bCanJump(BCanJump_Param111, BCanJump_Ret147)), Time24));not(holds_at(believe(Believe_Param109, bOn(BOn_Param112, BCanJump_Ret147)), Time24));not(equals(Equals_Param108, bSatiated(Believe_Param109)));not(equals(Equals_Param113, p1));not(equals(Time24, 0))), selectedPlan(Believe_Param109, Equals_Param108, Equals_Param113, Time24)), (equals(Equals_Param114, p2):-(not(holds_at(believe(Believe_Param115, bOn(Believe_Param115, BCanJump_Param116)), Time25));not(holds_at(believe(Believe_Param115, bCanJump(BCanJump_Param116, BCanJump_Param117)), Time25));not(holds_at(believe(Believe_Param115, bCanJump(BCanJump_Param117, BCanJump_Ret148)), Time25));not(holds_at(believe(Believe_Param115, bOn(BOn_Param118, BCanJump_Ret148)), Time25));not(equals(Equals_Param119, bSatiated(Believe_Param115)));not(equals(Equals_Param114, p1));not(equals(Time25, 0))), selectedPlan(Believe_Param115, Equals_Param119, Equals_Param114, Time25)), (equals(Time26, 4):-(not(holds_at(believe(Believe_Param120, bOn(Believe_Param120, BCanJump_Param121)), Time26));not(holds_at(believe(Believe_Param120, bCanJump(BCanJump_Param121, BCanJump_Param122)), Time26));not(holds_at(believe(Believe_Param120, bCanJump(BCanJump_Param122, BCanJump_Ret149)), Time26));not(holds_at(believe(Believe_Param120, bOn(BOn_Param123, BCanJump_Ret149)), Time26));not(equals(Equals_Param124, bSatiated(Believe_Param120)));not(equals(Equals_Param125, p1));not(equals(Time26, 0))), selectedPlan(Believe_Param120, Equals_Param124, Equals_Param125, Time26))], 15==15).
546
547
558
559 566axiom(soundPlan(Agent, Belief, Plan, Time),
567
568 [ holds_at(believe(Agent, bCanJump(floor, chair)), Time),
569 holds_at(believe(Agent, bCanJump(chair, table)), Time),
570 holds_at(believe(Agent, bCanJump(chair, table)), Time)
571 ]).
572axiom(soundPlan(Agent, Belief, Plan, Time),
573
574 [ holds_at(believe(Agent, bCanJump(floor, chair)), Time),
575 holds_at(believe(Agent, bCanJump(chair, table)), Time),
576 not(equals(Plan, p1a)),
577 not(equals(Plan, p1b))
578 ]).
579axiom(soundPlan(Agent, Belief, Plan, Time),
580
581 [ holds_at(believe(Agent, bCanJump(chair, table)), Time),
582 not(equals(Plan, p1))
583 ]).
584axiom(soundPlan(Agent, Belief, Plan, Time),
585
586 [ not(equals(Plan, p1a)),
587 not(equals(Plan, p1b)),
588 not(equals(Plan, p1))
589 ]).
590
591 594
595 609axiom(not(soundPlan(SoundPlan_Param, _, Equals_Param, Time4)),
610
611 [ not(holds_at(believe(SoundPlan_Param, bCanJump(floor, chair)),
612 Time4)),
613 equals(Equals_Param, p1)
614 ]).
615axiom(not(soundPlan(SoundPlan_Param, _, Equals_Param, Time4)),
616
617 [ not(holds_at(believe(SoundPlan_Param, bCanJump(chair, table)),
618 Time4)),
619 equals(Equals_Param, p1)
620 ]).
621axiom(not(soundPlan(SoundPlan_Param, _, Equals_Param, Time4)),
622
623 [ equals(Equals_Param, p1a),
624 not(holds_at(believe(SoundPlan_Param, bCanJump(chair, table)),
625 Time4))
626 ]).
627axiom(not(soundPlan(SoundPlan_Param, _, Equals_Param, Time4)),
628
629 [ equals(Equals_Param, p1b),
630 not(holds_at(believe(SoundPlan_Param, bCanJump(chair, table)),
631 Time4))
632 ]).
633
634 642axiom(not(equals(Equals_Param8, p1)),
643
644 [ not(holds_at(believe(Believe_Param, bCanJump(floor, chair)),
645 Time7)),
646 soundPlan(Believe_Param, _, Equals_Param8, Time7)
647 ]).
648axiom(not(equals(Equals_Param8, p1)),
649
650 [ not(holds_at(believe(Believe_Param, bCanJump(chair, table)),
651 Time7)),
652 soundPlan(Believe_Param, _, Equals_Param8, Time7)
653 ]).
654
655 659axiom(holds_at(believe(Believe_Param11, bCanJump(floor, chair)), Time10),
660
661 [ equals(Equals_Param12, p1),
662 soundPlan(Believe_Param11,
663 _,
664 Equals_Param12,
665 Time10)
666 ]).
667
668 672axiom(holds_at(believe(Believe_Param14, bCanJump(chair, table)), Time13),
673
674 [ equals(Equals_Param15, p1),
675 soundPlan(Believe_Param14,
676 _,
677 Equals_Param15,
678 Time13)
679 ]).
680
681 687axiom(holds_at(believe(Believe_Param17, bCanJump(chair, table)), Time16),
688
689 [ equals(Equals_Param18, p1a),
690 soundPlan(Believe_Param17,
691 _,
692 Equals_Param18,
693 Time16)
694 ]).
695axiom(holds_at(believe(Believe_Param17, bCanJump(chair, table)), Time16),
696
697 [ equals(Equals_Param18, p1b),
698 soundPlan(Believe_Param17,
699 _,
700 Equals_Param18,
701 Time16)
702 ]).
703
704 709axiom(not(equals(Equals_Param20, p1a)),
710
711 [ not(holds_at(believe(Believe_Param21, bCanJump(chair, table)),
712 Time19)),
713 soundPlan(Believe_Param21,
714 _,
715 Equals_Param20,
716 Time19)
717 ]).
718
719 724axiom(not(equals(Equals_Param23, p1b)),
725
726 [ not(holds_at(believe(Believe_Param24, bCanJump(chair, table)),
727 Time22)),
728 soundPlan(Believe_Param24,
729 _,
730 Equals_Param23,
731 Time22)
732 ]).
733
734
741
742 747axiom(holds_at(goal(Agent, Belief), t),
748 [equals(Agent, cat), equals(Belief, bSatiated(cat))]).
749
750 753
754 759axiom(not(holds_at(goal(Goal_Param, Equals_Param), t)),
760 [not(equals(Goal_Param, cat))]).
761axiom(not(holds_at(goal(Goal_Param, Equals_Param), t)),
762 [not(equals(Equals_Param, bSatiated(cat)))]).
763
764 767axiom(equals(Equals_Param4, cat),
768 [holds_at(goal(Equals_Param4, Goal_Ret), t)]).
769
770 773axiom(equals(Equals_Param6, bSatiated(cat)),
774 [holds_at(goal(Goal_Param7, Equals_Param6), t)]).
775
776
779 780 781axiom(not(initially(plan(Plan_Param, _, Plan_Ret))),
782 []).
783
784
787 791
792 802axiom(holds_at(on(Object, Surface), t),
803 [equals(Object, cat), equals(Surface, floor)]).
804axiom(holds_at(on(Object, Surface), t),
805 [equals(Object, food1), equals(Surface, table)]).
806axiom(holds_at(on(Object, Surface), t),
807 [equals(Object, food2), equals(Surface, shelf)]).
808
809 812
813 824axiom(not(holds_at(on(On_Param, Equals_Param), t)),
825
826 [ not(equals(On_Param, food2)),
827 not(equals(On_Param, food1)),
828 not(equals(On_Param, cat))
829 ]).
830axiom(not(holds_at(on(On_Param, Equals_Param), t)),
831
832 [ not(equals(Equals_Param, shelf)),
833 not(equals(On_Param, food1)),
834 not(equals(On_Param, cat))
835 ]).
836axiom(not(holds_at(on(On_Param, Equals_Param), t)),
837
838 [ not(equals(On_Param, food2)),
839 not(equals(Equals_Param, table)),
840 not(equals(On_Param, cat))
841 ]).
842axiom(not(holds_at(on(On_Param, Equals_Param), t)),
843
844 [ not(equals(Equals_Param, shelf)),
845 not(equals(Equals_Param, table)),
846 not(equals(On_Param, cat))
847 ]).
848axiom(not(holds_at(on(On_Param, Equals_Param), t)),
849
850 [ not(equals(On_Param, food2)),
851 not(equals(On_Param, food1)),
852 not(equals(Equals_Param, floor))
853 ]).
854axiom(not(holds_at(on(On_Param, Equals_Param), t)),
855
856 [ not(equals(Equals_Param, shelf)),
857 not(equals(On_Param, food1)),
858 not(equals(Equals_Param, floor))
859 ]).
860axiom(not(holds_at(on(On_Param, Equals_Param), t)),
861
862 [ not(equals(On_Param, food2)),
863 not(equals(Equals_Param, table)),
864 not(equals(Equals_Param, floor))
865 ]).
866axiom(not(holds_at(on(On_Param, Equals_Param), t)),
867
868 [ not(equals(Equals_Param, shelf)),
869 not(equals(Equals_Param, table)),
870 not(equals(Equals_Param, floor))
871 ]).
872
873 883axiom(equals(Equals_Param4, cat),
884
885 [ not(equals(Equals_Param4, food2)),
886 not(equals(Equals_Param4, food1)),
887 holds_at(on(Equals_Param4, Equals_Param5), t)
888 ]).
889axiom(equals(Equals_Param4, cat),
890
891 [ not(equals(Equals_Param5, shelf)),
892 not(equals(Equals_Param4, food1)),
893 holds_at(on(Equals_Param4, Equals_Param5), t)
894 ]).
895axiom(equals(Equals_Param4, cat),
896
897 [ not(equals(Equals_Param4, food2)),
898 not(equals(Equals_Param5, table)),
899 holds_at(on(Equals_Param4, Equals_Param5), t)
900 ]).
901axiom(equals(Equals_Param4, cat),
902
903 [ not(equals(Equals_Param5, shelf)),
904 not(equals(Equals_Param5, table)),
905 holds_at(on(Equals_Param4, Equals_Param5), t)
906 ]).
907
908 918axiom(equals(Equals_Param6, floor),
919
920 [ not(equals(Equals_Param7, food2)),
921 not(equals(Equals_Param7, food1)),
922 holds_at(on(Equals_Param7, Equals_Param6), t)
923 ]).
924axiom(equals(Equals_Param6, floor),
925
926 [ not(equals(Equals_Param6, shelf)),
927 not(equals(Equals_Param7, food1)),
928 holds_at(on(Equals_Param7, Equals_Param6), t)
929 ]).
930axiom(equals(Equals_Param6, floor),
931
932 [ not(equals(Equals_Param7, food2)),
933 not(equals(Equals_Param6, table)),
934 holds_at(on(Equals_Param7, Equals_Param6), t)
935 ]).
936axiom(equals(Equals_Param6, floor),
937
938 [ not(equals(Equals_Param6, shelf)),
939 not(equals(Equals_Param6, table)),
940 holds_at(on(Equals_Param7, Equals_Param6), t)
941 ]).
942
943 952axiom(equals(Equals_Param8, food1),
953
954 [ not(equals(Equals_Param8, cat)),
955 not(equals(Equals_Param8, food2)),
956 holds_at(on(Equals_Param8, Equals_Param9), t)
957 ]).
958axiom(equals(Equals_Param8, food1),
959
960 [ not(equals(Equals_Param9, floor)),
961 not(equals(Equals_Param8, food2)),
962 holds_at(on(Equals_Param8, Equals_Param9), t)
963 ]).
964axiom(equals(Equals_Param8, food1),
965
966 [ not(equals(Equals_Param8, cat)),
967 not(equals(Equals_Param9, shelf)),
968 holds_at(on(Equals_Param8, Equals_Param9), t)
969 ]).
970axiom(equals(Equals_Param8, food1),
971
972 [ not(equals(Equals_Param9, floor)),
973 not(equals(Equals_Param9, shelf)),
974 holds_at(on(Equals_Param8, Equals_Param9), t)
975 ]).
976
977 986axiom(equals(Equals_Param10, table),
987
988 [ not(equals(Equals_Param11, cat)),
989 not(equals(Equals_Param11, food2)),
990 holds_at(on(Equals_Param11, Equals_Param10), t)
991 ]).
992axiom(equals(Equals_Param10, table),
993
994 [ not(equals(Equals_Param10, floor)),
995 not(equals(Equals_Param11, food2)),
996 holds_at(on(Equals_Param11, Equals_Param10), t)
997 ]).
998axiom(equals(Equals_Param10, table),
999
1000 [ not(equals(Equals_Param11, cat)),
1001 not(equals(Equals_Param10, shelf)),
1002 holds_at(on(Equals_Param11, Equals_Param10), t)
1003 ]).
1004axiom(equals(Equals_Param10, table),
1005
1006 [ not(equals(Equals_Param10, floor)),
1007 not(equals(Equals_Param10, shelf)),
1008 holds_at(on(Equals_Param11, Equals_Param10), t)
1009 ]).
1010
1011 1020axiom(equals(Equals_Param12, food2),
1021
1022 [ not(equals(Equals_Param12, cat)),
1023 not(equals(Equals_Param12, food1)),
1024 holds_at(on(Equals_Param12, Equals_Param13), t)
1025 ]).
1026axiom(equals(Equals_Param12, food2),
1027
1028 [ not(equals(Equals_Param13, floor)),
1029 not(equals(Equals_Param12, food1)),
1030 holds_at(on(Equals_Param12, Equals_Param13), t)
1031 ]).
1032axiom(equals(Equals_Param12, food2),
1033
1034 [ not(equals(Equals_Param12, cat)),
1035 not(equals(Equals_Param13, table)),
1036 holds_at(on(Equals_Param12, Equals_Param13), t)
1037 ]).
1038axiom(equals(Equals_Param12, food2),
1039
1040 [ not(equals(Equals_Param13, floor)),
1041 not(equals(Equals_Param13, table)),
1042 holds_at(on(Equals_Param12, Equals_Param13), t)
1043 ]).
1044
1045 1054axiom(equals(Equals_Param14, shelf),
1055
1056 [ not(equals(Equals_Param15, cat)),
1057 not(equals(Equals_Param15, food1)),
1058 holds_at(on(Equals_Param15, Equals_Param14), t)
1059 ]).
1060axiom(equals(Equals_Param14, shelf),
1061
1062 [ not(equals(Equals_Param14, floor)),
1063 not(equals(Equals_Param15, food1)),
1064 holds_at(on(Equals_Param15, Equals_Param14), t)
1065 ]).
1066axiom(equals(Equals_Param14, shelf),
1067
1068 [ not(equals(Equals_Param15, cat)),
1069 not(equals(Equals_Param14, table)),
1070 holds_at(on(Equals_Param15, Equals_Param14), t)
1071 ]).
1072axiom(equals(Equals_Param14, shelf),
1073
1074 [ not(equals(Equals_Param14, floor)),
1075 not(equals(Equals_Param14, table)),
1076 holds_at(on(Equals_Param15, Equals_Param14), t)
1077 ]).
1078
1079
1082 1086
1087 1097axiom(holds_at(canJump(Surface1, Surface2), t),
1098 [equals(Surface1, floor), equals(Surface2, chair)]).
1099axiom(holds_at(canJump(Surface1, Surface2), t),
1100 [equals(Surface1, chair), equals(Surface2, table)]).
1101axiom(holds_at(canJump(Surface1, Surface2), t),
1102 [equals(Surface1, shelf), equals(Surface2, table)]).
1103
1104 1107
1108 1119axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1120
1121 [ not(equals(CanJump_Param, shelf)),
1122 not(equals(CanJump_Param, chair)),
1123 not(equals(CanJump_Param, floor))
1124 ]).
1125axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1126
1127 [ not(equals(Equals_Param, table)),
1128 not(equals(CanJump_Param, chair)),
1129 not(equals(CanJump_Param, floor))
1130 ]).
1131axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1132
1133 [ not(equals(CanJump_Param, shelf)),
1134 not(equals(Equals_Param, table)),
1135 not(equals(CanJump_Param, floor))
1136 ]).
1137axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1138
1139 [ not(equals(Equals_Param, table)),
1140 not(equals(Equals_Param, table)),
1141 not(equals(CanJump_Param, floor))
1142 ]).
1143axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1144
1145 [ not(equals(CanJump_Param, shelf)),
1146 not(equals(CanJump_Param, chair)),
1147 not(equals(Equals_Param, chair))
1148 ]).
1149axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1150
1151 [ not(equals(Equals_Param, table)),
1152 not(equals(CanJump_Param, chair)),
1153 not(equals(Equals_Param, chair))
1154 ]).
1155axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1156
1157 [ not(equals(CanJump_Param, shelf)),
1158 not(equals(Equals_Param, table)),
1159 not(equals(Equals_Param, chair))
1160 ]).
1161axiom(not(holds_at(canJump(CanJump_Param, Equals_Param), t)),
1162
1163 [ not(equals(Equals_Param, table)),
1164 not(equals(Equals_Param, table)),
1165 not(equals(Equals_Param, chair))
1166 ]).
1167
1168 1178axiom(equals(Equals_Param4, floor),
1179
1180 [ not(equals(Equals_Param4, shelf)),
1181 not(equals(Equals_Param4, chair)),
1182 holds_at(canJump(Equals_Param4, Equals_Param5), t)
1183 ]).
1184axiom(equals(Equals_Param4, floor),
1185
1186 [ not(equals(Equals_Param5, table)),
1187 not(equals(Equals_Param4, chair)),
1188 holds_at(canJump(Equals_Param4, Equals_Param5), t)
1189 ]).
1190axiom(equals(Equals_Param4, floor),
1191
1192 [ not(equals(Equals_Param4, shelf)),
1193 not(equals(Equals_Param5, table)),
1194 holds_at(canJump(Equals_Param4, Equals_Param5), t)
1195 ]).
1196axiom(equals(Equals_Param4, floor),
1197
1198 [ not(equals(Equals_Param5, table)),
1199 not(equals(Equals_Param5, table)),
1200 holds_at(canJump(Equals_Param4, Equals_Param5), t)
1201 ]).
1202
1203 1213axiom(equals(Equals_Param6, chair),
1214
1215 [ not(equals(Equals_Param7, shelf)),
1216 not(equals(Equals_Param7, chair)),
1217 holds_at(canJump(Equals_Param7, Equals_Param6), t)
1218 ]).
1219axiom(equals(Equals_Param6, chair),
1220
1221 [ not(equals(Equals_Param6, table)),
1222 not(equals(Equals_Param7, chair)),
1223 holds_at(canJump(Equals_Param7, Equals_Param6), t)
1224 ]).
1225axiom(equals(Equals_Param6, chair),
1226
1227 [ not(equals(Equals_Param7, shelf)),
1228 not(equals(Equals_Param6, table)),
1229 holds_at(canJump(Equals_Param7, Equals_Param6), t)
1230 ]).
1231axiom(equals(Equals_Param6, chair),
1232
1233 [ not(equals(Equals_Param6, table)),
1234 not(equals(Equals_Param6, table)),
1235 holds_at(canJump(Equals_Param7, Equals_Param6), t)
1236 ]).
1237
1238 1247axiom(equals(Equals_Param8, chair),
1248
1249 [ not(equals(Equals_Param8, floor)),
1250 not(equals(Equals_Param8, shelf)),
1251 holds_at(canJump(Equals_Param8, Equals_Param9), t)
1252 ]).
1253axiom(equals(Equals_Param8, chair),
1254
1255 [ not(equals(Equals_Param9, chair)),
1256 not(equals(Equals_Param8, shelf)),
1257 holds_at(canJump(Equals_Param8, Equals_Param9), t)
1258 ]).
1259axiom(equals(Equals_Param8, chair),
1260
1261 [ not(equals(Equals_Param8, floor)),
1262 not(equals(Equals_Param9, table)),
1263 holds_at(canJump(Equals_Param8, Equals_Param9), t)
1264 ]).
1265axiom(equals(Equals_Param8, chair),
1266
1267 [ not(equals(Equals_Param9, chair)),
1268 not(equals(Equals_Param9, table)),
1269 holds_at(canJump(Equals_Param8, Equals_Param9), t)
1270 ]).
1271
1272 1281axiom(equals(Equals_Param10, table),
1282
1283 [ not(equals(Equals_Param11, floor)),
1284 not(equals(Equals_Param11, shelf)),
1285 holds_at(canJump(Equals_Param11, Equals_Param10), t)
1286 ]).
1287axiom(equals(Equals_Param10, table),
1288
1289 [ not(equals(Equals_Param10, chair)),
1290 not(equals(Equals_Param11, shelf)),
1291 holds_at(canJump(Equals_Param11, Equals_Param10), t)
1292 ]).
1293axiom(equals(Equals_Param10, table),
1294
1295 [ not(equals(Equals_Param11, floor)),
1296 not(equals(Equals_Param10, table)),
1297 holds_at(canJump(Equals_Param11, Equals_Param10), t)
1298 ]).
1299axiom(equals(Equals_Param10, table),
1300
1301 [ not(equals(Equals_Param10, chair)),
1302 not(equals(Equals_Param10, table)),
1303 holds_at(canJump(Equals_Param11, Equals_Param10), t)
1304 ]).
1305
1306 1315axiom(equals(Equals_Param12, shelf),
1316
1317 [ not(equals(Equals_Param12, floor)),
1318 not(equals(Equals_Param12, chair)),
1319 holds_at(canJump(Equals_Param12, Equals_Param13), t)
1320 ]).
1321axiom(equals(Equals_Param12, shelf),
1322
1323 [ not(equals(Equals_Param13, chair)),
1324 not(equals(Equals_Param12, chair)),
1325 holds_at(canJump(Equals_Param12, Equals_Param13), t)
1326 ]).
1327axiom(equals(Equals_Param12, shelf),
1328
1329 [ not(equals(Equals_Param12, floor)),
1330 not(equals(Equals_Param13, table)),
1331 holds_at(canJump(Equals_Param12, Equals_Param13), t)
1332 ]).
1333axiom(equals(Equals_Param12, shelf),
1334
1335 [ not(equals(Equals_Param13, chair)),
1336 not(equals(Equals_Param13, table)),
1337 holds_at(canJump(Equals_Param12, Equals_Param13), t)
1338 ]).
1339
1340 1349axiom(equals(Equals_Param14, table),
1350
1351 [ not(equals(Equals_Param15, floor)),
1352 not(equals(Equals_Param15, chair)),
1353 holds_at(canJump(Equals_Param15, Equals_Param14), t)
1354 ]).
1355axiom(equals(Equals_Param14, table),
1356
1357 [ not(equals(Equals_Param14, chair)),
1358 not(equals(Equals_Param15, chair)),
1359 holds_at(canJump(Equals_Param15, Equals_Param14), t)
1360 ]).
1361axiom(equals(Equals_Param14, table),
1362
1363 [ not(equals(Equals_Param15, floor)),
1364 not(equals(Equals_Param14, table)),
1365 holds_at(canJump(Equals_Param15, Equals_Param14), t)
1366 ]).
1367axiom(equals(Equals_Param14, table),
1368
1369 [ not(equals(Equals_Param14, chair)),
1370 not(equals(Equals_Param14, table)),
1371 holds_at(canJump(Equals_Param15, Equals_Param14), t)
1372 ]).
1373
1374
1380
1381 1391axiom(holds_at(believe(Agent, bOn(Object, Surface)), t),
1392
1393 [ equals(Agent, cat),
1394 equals(Object, cat),
1395 equals(Surface, floor)
1396 ]).
1397axiom(holds_at(believe(Agent, bOn(Object, Surface)), t),
1398
1399 [ equals(Agent, cat),
1400 equals(Object, food1),
1401 equals(Surface, table)
1402 ]).
1403
1404 1407
1408 1418axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1419
1420 [ not(equals(Believe_Param, cat)),
1421 not(equals(Believe_Param, cat))
1422 ]).
1423axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1424 [not(equals(BOn_Param, food1)), not(equals(Believe_Param, cat))]).
1425axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1426
1427 [ not(equals(Equals_Param, table)),
1428 not(equals(Believe_Param, cat))
1429 ]).
1430axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1431 [not(equals(Believe_Param, cat)), not(equals(BOn_Param, cat))]).
1432axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1433 [not(equals(BOn_Param, food1)), not(equals(BOn_Param, cat))]).
1434axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1435 [not(equals(Equals_Param, table)), not(equals(BOn_Param, cat))]).
1436axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1437
1438 [ not(equals(Believe_Param, cat)),
1439 not(equals(Equals_Param, floor))
1440 ]).
1441axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1442 [not(equals(BOn_Param, food1)), not(equals(Equals_Param, floor))]).
1443axiom(not(holds_at(believe(Believe_Param, bOn(BOn_Param, Equals_Param)), t)),
1444
1445 [ not(equals(Equals_Param, table)),
1446 not(equals(Equals_Param, floor))
1447 ]).
1448
1449 1458axiom(equals(Equals_Param6, cat),
1459
1460 [ not(equals(Equals_Param6, cat)),
1461 holds_at(believe(Equals_Param6,
1462 bOn(Equals_Param7, Equals_Param8)),
1463 t)
1464 ]).
1465axiom(equals(Equals_Param6, cat),
1466
1467 [ not(equals(Equals_Param7, food1)),
1468 holds_at(believe(Equals_Param6,
1469 bOn(Equals_Param7, Equals_Param8)),
1470 t)
1471 ]).
1472axiom(equals(Equals_Param6, cat),
1473
1474 [ not(equals(Equals_Param8, table)),
1475 holds_at(believe(Equals_Param6,
1476 bOn(Equals_Param7, Equals_Param8)),
1477 t)
1478 ]).
1479
1480 1489axiom(equals(Equals_Param9, cat),
1490
1491 [ not(equals(Equals_Param10, cat)),
1492 holds_at(believe(Equals_Param10,
1493 bOn(Equals_Param9, Equals_Param11)),
1494 t)
1495 ]).
1496axiom(equals(Equals_Param9, cat),
1497
1498 [ not(equals(Equals_Param9, food1)),
1499 holds_at(believe(Equals_Param10,
1500 bOn(Equals_Param9, Equals_Param11)),
1501 t)
1502 ]).
1503axiom(equals(Equals_Param9, cat),
1504
1505 [ not(equals(Equals_Param11, table)),
1506 holds_at(believe(Equals_Param10,
1507 bOn(Equals_Param9, Equals_Param11)),
1508 t)
1509 ]).
1510
1511 1520axiom(equals(Equals_Param12, floor),
1521
1522 [ not(equals(Equals_Param13, cat)),
1523 holds_at(believe(Equals_Param13,
1524 bOn(Equals_Param14, Equals_Param12)),
1525 t)
1526 ]).
1527axiom(equals(Equals_Param12, floor),
1528
1529 [ not(equals(Equals_Param14, food1)),
1530 holds_at(believe(Equals_Param13,
1531 bOn(Equals_Param14, Equals_Param12)),
1532 t)
1533 ]).
1534axiom(equals(Equals_Param12, floor),
1535
1536 [ not(equals(Equals_Param12, table)),
1537 holds_at(believe(Equals_Param13,
1538 bOn(Equals_Param14, Equals_Param12)),
1539 t)
1540 ]).
1541
1542 1551axiom(equals(Equals_Param15, cat),
1552
1553 [ not(equals(Equals_Param15, cat)),
1554 holds_at(believe(Equals_Param15,
1555 bOn(Equals_Param16, Equals_Param17)),
1556 t)
1557 ]).
1558axiom(equals(Equals_Param15, cat),
1559
1560 [ not(equals(Equals_Param16, cat)),
1561 holds_at(believe(Equals_Param15,
1562 bOn(Equals_Param16, Equals_Param17)),
1563 t)
1564 ]).
1565axiom(equals(Equals_Param15, cat),
1566
1567 [ not(equals(Equals_Param17, floor)),
1568 holds_at(believe(Equals_Param15,
1569 bOn(Equals_Param16, Equals_Param17)),
1570 t)
1571 ]).
1572
1573 1582axiom(equals(Equals_Param18, food1),
1583
1584 [ not(equals(Equals_Param19, cat)),
1585 holds_at(believe(Equals_Param19,
1586 bOn(Equals_Param18, Equals_Param20)),
1587 t)
1588 ]).
1589axiom(equals(Equals_Param18, food1),
1590
1591 [ not(equals(Equals_Param18, cat)),
1592 holds_at(believe(Equals_Param19,
1593 bOn(Equals_Param18, Equals_Param20)),
1594 t)
1595 ]).
1596axiom(equals(Equals_Param18, food1),
1597
1598 [ not(equals(Equals_Param20, floor)),
1599 holds_at(believe(Equals_Param19,
1600 bOn(Equals_Param18, Equals_Param20)),
1601 t)
1602 ]).
1603
1604 1613axiom(equals(Equals_Param21, table),
1614
1615 [ not(equals(Equals_Param22, cat)),
1616 holds_at(believe(Equals_Param22,
1617 bOn(Equals_Param23, Equals_Param21)),
1618 t)
1619 ]).
1620axiom(equals(Equals_Param21, table),
1621
1622 [ not(equals(Equals_Param23, cat)),
1623 holds_at(believe(Equals_Param22,
1624 bOn(Equals_Param23, Equals_Param21)),
1625 t)
1626 ]).
1627axiom(equals(Equals_Param21, table),
1628
1629 [ not(equals(Equals_Param21, floor)),
1630 holds_at(believe(Equals_Param22,
1631 bOn(Equals_Param23, Equals_Param21)),
1632 t)
1633 ]).
1634
1635
1642
1643 1656axiom(holds_at(believe(Agent, bCanJump(Surface1, Surface2)), t),
1657
1658 [ equals(Agent, cat),
1659 equals(Surface1, floor),
1660 equals(Surface2, chair)
1661 ]).
1662axiom(holds_at(believe(Agent, bCanJump(Surface1, Surface2)), t),
1663
1664 [ equals(Agent, cat),
1665 equals(Surface1, chair),
1666 equals(Surface2, table)
1667 ]).
1668axiom(holds_at(believe(Agent, bCanJump(Surface1, Surface2)), t),
1669
1670 [ equals(Agent, cat),
1671 equals(Surface1, shelf),
1672 equals(Surface2, table)
1673 ]).
1674
1675 1678
1679 1693axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1694
1695 [ not(equals(Believe_Param, cat)),
1696 not(equals(Believe_Param, cat)),
1697 not(equals(Believe_Param, cat))
1698 ]).
1699axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1700
1701 [ not(equals(BCanJump_Param, shelf)),
1702 not(equals(Believe_Param, cat)),
1703 not(equals(Believe_Param, cat))
1704 ]).
1705axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1706
1707 [ not(equals(Equals_Param, table)),
1708 not(equals(Believe_Param, cat)),
1709 not(equals(Believe_Param, cat))
1710 ]).
1711axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1712
1713 [ not(equals(Believe_Param, cat)),
1714 not(equals(BCanJump_Param, chair)),
1715 not(equals(Believe_Param, cat))
1716 ]).
1717axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1718
1719 [ not(equals(BCanJump_Param, shelf)),
1720 not(equals(BCanJump_Param, chair)),
1721 not(equals(Believe_Param, cat))
1722 ]).
1723axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1724
1725 [ not(equals(Equals_Param, table)),
1726 not(equals(BCanJump_Param, chair)),
1727 not(equals(Believe_Param, cat))
1728 ]).
1729axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1730
1731 [ not(equals(Believe_Param, cat)),
1732 not(equals(Equals_Param, table)),
1733 not(equals(Believe_Param, cat))
1734 ]).
1735axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1736
1737 [ not(equals(BCanJump_Param, shelf)),
1738 not(equals(Equals_Param, table)),
1739 not(equals(Believe_Param, cat))
1740 ]).
1741axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1742
1743 [ not(equals(Equals_Param, table)),
1744 not(equals(Equals_Param, table)),
1745 not(equals(Believe_Param, cat))
1746 ]).
1747axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1748
1749 [ not(equals(Believe_Param, cat)),
1750 not(equals(Believe_Param, cat)),
1751 not(equals(BCanJump_Param, floor))
1752 ]).
1753axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1754
1755 [ not(equals(BCanJump_Param, shelf)),
1756 not(equals(Believe_Param, cat)),
1757 not(equals(BCanJump_Param, floor))
1758 ]).
1759axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1760
1761 [ not(equals(Equals_Param, table)),
1762 not(equals(Believe_Param, cat)),
1763 not(equals(BCanJump_Param, floor))
1764 ]).
1765axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1766
1767 [ not(equals(Believe_Param, cat)),
1768 not(equals(BCanJump_Param, chair)),
1769 not(equals(BCanJump_Param, floor))
1770 ]).
1771axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1772
1773 [ not(equals(BCanJump_Param, shelf)),
1774 not(equals(BCanJump_Param, chair)),
1775 not(equals(BCanJump_Param, floor))
1776 ]).
1777axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1778
1779 [ not(equals(Equals_Param, table)),
1780 not(equals(BCanJump_Param, chair)),
1781 not(equals(BCanJump_Param, floor))
1782 ]).
1783axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1784
1785 [ not(equals(Believe_Param, cat)),
1786 not(equals(Equals_Param, table)),
1787 not(equals(BCanJump_Param, floor))
1788 ]).
1789axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1790
1791 [ not(equals(BCanJump_Param, shelf)),
1792 not(equals(Equals_Param, table)),
1793 not(equals(BCanJump_Param, floor))
1794 ]).
1795axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1796
1797 [ not(equals(Equals_Param, table)),
1798 not(equals(Equals_Param, table)),
1799 not(equals(BCanJump_Param, floor))
1800 ]).
1801axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1802
1803 [ not(equals(Believe_Param, cat)),
1804 not(equals(Believe_Param, cat)),
1805 not(equals(Equals_Param, chair))
1806 ]).
1807axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1808
1809 [ not(equals(BCanJump_Param, shelf)),
1810 not(equals(Believe_Param, cat)),
1811 not(equals(Equals_Param, chair))
1812 ]).
1813axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1814
1815 [ not(equals(Equals_Param, table)),
1816 not(equals(Believe_Param, cat)),
1817 not(equals(Equals_Param, chair))
1818 ]).
1819axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1820
1821 [ not(equals(Believe_Param, cat)),
1822 not(equals(BCanJump_Param, chair)),
1823 not(equals(Equals_Param, chair))
1824 ]).
1825axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1826
1827 [ not(equals(BCanJump_Param, shelf)),
1828 not(equals(BCanJump_Param, chair)),
1829 not(equals(Equals_Param, chair))
1830 ]).
1831axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1832
1833 [ not(equals(Equals_Param, table)),
1834 not(equals(BCanJump_Param, chair)),
1835 not(equals(Equals_Param, chair))
1836 ]).
1837axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1838
1839 [ not(equals(Believe_Param, cat)),
1840 not(equals(Equals_Param, table)),
1841 not(equals(Equals_Param, chair))
1842 ]).
1843axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1844
1845 [ not(equals(BCanJump_Param, shelf)),
1846 not(equals(Equals_Param, table)),
1847 not(equals(Equals_Param, chair))
1848 ]).
1849axiom(not(holds_at(believe(Believe_Param, bCanJump(BCanJump_Param, Equals_Param)), t)),
1850
1851 [ not(equals(Equals_Param, table)),
1852 not(equals(Equals_Param, table)),
1853 not(equals(Equals_Param, chair))
1854 ]).
1855
1856 1870axiom(equals(Equals_Param6, cat),
1871
1872 [ not(equals(Equals_Param6, cat)),
1873 not(equals(Equals_Param6, cat)),
1874 holds_at(believe(Equals_Param6,
1875 bCanJump(Equals_Param7, Equals_Param8)),
1876 t)
1877 ]).
1878axiom(equals(Equals_Param6, cat),
1879
1880 [ not(equals(Equals_Param7, shelf)),
1881 not(equals(Equals_Param6, cat)),
1882 holds_at(believe(Equals_Param6,
1883 bCanJump(Equals_Param7, Equals_Param8)),
1884 t)
1885 ]).
1886axiom(equals(Equals_Param6, cat),
1887
1888 [ not(equals(Equals_Param8, table)),
1889 not(equals(Equals_Param6, cat)),
1890 holds_at(believe(Equals_Param6,
1891 bCanJump(Equals_Param7, Equals_Param8)),
1892 t)
1893 ]).
1894axiom(equals(Equals_Param6, cat),
1895
1896 [ not(equals(Equals_Param6, cat)),
1897 not(equals(Equals_Param7, chair)),
1898 holds_at(believe(Equals_Param6,
1899 bCanJump(Equals_Param7, Equals_Param8)),
1900 t)
1901 ]).
1902axiom(equals(Equals_Param6, cat),
1903
1904 [ not(equals(Equals_Param7, shelf)),
1905 not(equals(Equals_Param7, chair)),
1906 holds_at(believe(Equals_Param6,
1907 bCanJump(Equals_Param7, Equals_Param8)),
1908 t)
1909 ]).
1910axiom(equals(Equals_Param6, cat),
1911
1912 [ not(equals(Equals_Param8, table)),
1913 not(equals(Equals_Param7, chair)),
1914 holds_at(believe(Equals_Param6,
1915 bCanJump(Equals_Param7, Equals_Param8)),
1916 t)
1917 ]).
1918axiom(equals(Equals_Param6, cat),
1919
1920 [ not(equals(Equals_Param6, cat)),
1921 not(equals(Equals_Param8, table)),
1922 holds_at(believe(Equals_Param6,
1923 bCanJump(Equals_Param7, Equals_Param8)),
1924 t)
1925 ]).
1926axiom(equals(Equals_Param6, cat),
1927
1928 [ not(equals(Equals_Param7, shelf)),
1929 not(equals(Equals_Param8, table)),
1930 holds_at(believe(Equals_Param6,
1931 bCanJump(Equals_Param7, Equals_Param8)),
1932 t)
1933 ]).
1934axiom(equals(Equals_Param6, cat),
1935
1936 [ not(equals(Equals_Param8, table)),
1937 not(equals(Equals_Param8, table)),
1938 holds_at(believe(Equals_Param6,
1939 bCanJump(Equals_Param7, Equals_Param8)),
1940 t)
1941 ]).
1942
1943 1957axiom(equals(Equals_Param9, floor),
1958
1959 [ not(equals(Equals_Param10, cat)),
1960 not(equals(Equals_Param10, cat)),
1961 holds_at(believe(Equals_Param10,
1962 bCanJump(Equals_Param9, Equals_Param11)),
1963 t)
1964 ]).
1965axiom(equals(Equals_Param9, floor),
1966
1967 [ not(equals(Equals_Param9, shelf)),
1968 not(equals(Equals_Param10, cat)),
1969 holds_at(believe(Equals_Param10,
1970 bCanJump(Equals_Param9, Equals_Param11)),
1971 t)
1972 ]).
1973axiom(equals(Equals_Param9, floor),
1974
1975 [ not(equals(Equals_Param11, table)),
1976 not(equals(Equals_Param10, cat)),
1977 holds_at(believe(Equals_Param10,
1978 bCanJump(Equals_Param9, Equals_Param11)),
1979 t)
1980 ]).
1981axiom(equals(Equals_Param9, floor),
1982
1983 [ not(equals(Equals_Param10, cat)),
1984 not(equals(Equals_Param9, chair)),
1985 holds_at(believe(Equals_Param10,
1986 bCanJump(Equals_Param9, Equals_Param11)),
1987 t)
1988 ]).
1989axiom(equals(Equals_Param9, floor),
1990
1991 [ not(equals(Equals_Param9, shelf)),
1992 not(equals(Equals_Param9, chair)),
1993 holds_at(believe(Equals_Param10,
1994 bCanJump(Equals_Param9, Equals_Param11)),
1995 t)
1996 ]).
1997axiom(equals(Equals_Param9, floor),
1998
1999 [ not(equals(Equals_Param11, table)),
2000 not(equals(Equals_Param9, chair)),
2001 holds_at(believe(Equals_Param10,
2002 bCanJump(Equals_Param9, Equals_Param11)),
2003 t)
2004 ]).
2005axiom(equals(Equals_Param9, floor),
2006
2007 [ not(equals(Equals_Param10, cat)),
2008 not(equals(Equals_Param11, table)),
2009 holds_at(believe(Equals_Param10,
2010 bCanJump(Equals_Param9, Equals_Param11)),
2011 t)
2012 ]).
2013axiom(equals(Equals_Param9, floor),
2014
2015 [ not(equals(Equals_Param9, shelf)),
2016 not(equals(Equals_Param11, table)),
2017 holds_at(believe(Equals_Param10,
2018 bCanJump(Equals_Param9, Equals_Param11)),
2019 t)
2020 ]).
2021axiom(equals(Equals_Param9, floor),
2022
2023 [ not(equals(Equals_Param11, table)),
2024 not(equals(Equals_Param11, table)),
2025 holds_at(believe(Equals_Param10,
2026 bCanJump(Equals_Param9, Equals_Param11)),
2027 t)
2028 ]).
2029
2030 2044axiom(equals(Equals_Param12, chair),
2045
2046 [ not(equals(Equals_Param13, cat)),
2047 not(equals(Equals_Param13, cat)),
2048 holds_at(believe(Equals_Param13,
2049 bCanJump(Equals_Param14, Equals_Param12)),
2050 t)
2051 ]).
2052axiom(equals(Equals_Param12, chair),
2053
2054 [ not(equals(Equals_Param14, shelf)),
2055 not(equals(Equals_Param13, cat)),
2056 holds_at(believe(Equals_Param13,
2057 bCanJump(Equals_Param14, Equals_Param12)),
2058 t)
2059 ]).
2060axiom(equals(Equals_Param12, chair),
2061
2062 [ not(equals(Equals_Param12, table)),
2063 not(equals(Equals_Param13, cat)),
2064 holds_at(believe(Equals_Param13,
2065 bCanJump(Equals_Param14, Equals_Param12)),
2066 t)
2067 ]).
2068axiom(equals(Equals_Param12, chair),
2069
2070 [ not(equals(Equals_Param13, cat)),
2071 not(equals(Equals_Param14, chair)),
2072 holds_at(believe(Equals_Param13,
2073 bCanJump(Equals_Param14, Equals_Param12)),
2074 t)
2075 ]).
2076axiom(equals(Equals_Param12, chair),
2077
2078 [ not(equals(Equals_Param14, shelf)),
2079 not(equals(Equals_Param14, chair)),
2080 holds_at(believe(Equals_Param13,
2081 bCanJump(Equals_Param14, Equals_Param12)),
2082 t)
2083 ]).
2084axiom(equals(Equals_Param12, chair),
2085
2086 [ not(equals(Equals_Param12, table)),
2087 not(equals(Equals_Param14, chair)),
2088 holds_at(believe(Equals_Param13,
2089 bCanJump(Equals_Param14, Equals_Param12)),
2090 t)
2091 ]).
2092axiom(equals(Equals_Param12, chair),
2093
2094 [ not(equals(Equals_Param13, cat)),
2095 not(equals(Equals_Param12, table)),
2096 holds_at(believe(Equals_Param13,
2097 bCanJump(Equals_Param14, Equals_Param12)),
2098 t)
2099 ]).
2100axiom(equals(Equals_Param12, chair),
2101
2102 [ not(equals(Equals_Param14, shelf)),
2103 not(equals(Equals_Param12, table)),
2104 holds_at(believe(Equals_Param13,
2105 bCanJump(Equals_Param14, Equals_Param12)),
2106 t)
2107 ]).
2108axiom(equals(Equals_Param12, chair),
2109
2110 [ not(equals(Equals_Param12, table)),
2111 not(equals(Equals_Param12, table)),
2112 holds_at(believe(Equals_Param13,
2113 bCanJump(Equals_Param14, Equals_Param12)),
2114 t)
2115 ]).
2116
2117 2130axiom(equals(Equals_Param15, cat),
2131
2132 [ not(equals(Equals_Param15, cat)),
2133 not(equals(Equals_Param15, cat)),
2134 holds_at(believe(Equals_Param15,
2135 bCanJump(Equals_Param16, Equals_Param17)),
2136 t)
2137 ]).
2138axiom(equals(Equals_Param15, cat),
2139
2140 [ not(equals(Equals_Param16, floor)),
2141 not(equals(Equals_Param15, cat)),
2142 holds_at(believe(Equals_Param15,
2143 bCanJump(Equals_Param16, Equals_Param17)),
2144 t)
2145 ]).
2146axiom(equals(Equals_Param15, cat),
2147
2148 [ not(equals(Equals_Param17, chair)),
2149 not(equals(Equals_Param15, cat)),
2150 holds_at(believe(Equals_Param15,
2151 bCanJump(Equals_Param16, Equals_Param17)),
2152 t)
2153 ]).
2154axiom(equals(Equals_Param15, cat),
2155
2156 [ not(equals(Equals_Param15, cat)),
2157 not(equals(Equals_Param16, shelf)),
2158 holds_at(believe(Equals_Param15,
2159 bCanJump(Equals_Param16, Equals_Param17)),
2160 t)
2161 ]).
2162axiom(equals(Equals_Param15, cat),
2163
2164 [ not(equals(Equals_Param16, floor)),
2165 not(equals(Equals_Param16, shelf)),
2166 holds_at(believe(Equals_Param15,
2167 bCanJump(Equals_Param16, Equals_Param17)),
2168 t)
2169 ]).
2170axiom(equals(Equals_Param15, cat),
2171
2172 [ not(equals(Equals_Param17, chair)),
2173 not(equals(Equals_Param16, shelf)),
2174 holds_at(believe(Equals_Param15,
2175 bCanJump(Equals_Param16, Equals_Param17)),
2176 t)
2177 ]).
2178axiom(equals(Equals_Param15, cat),
2179
2180 [ not(equals(Equals_Param15, cat)),
2181 not(equals(Equals_Param17, table)),
2182 holds_at(believe(Equals_Param15,
2183 bCanJump(Equals_Param16, Equals_Param17)),
2184 t)
2185 ]).
2186axiom(equals(Equals_Param15, cat),
2187
2188 [ not(equals(Equals_Param16, floor)),
2189 not(equals(Equals_Param17, table)),
2190 holds_at(believe(Equals_Param15,
2191 bCanJump(Equals_Param16, Equals_Param17)),
2192 t)
2193 ]).
2194axiom(equals(Equals_Param15, cat),
2195
2196 [ not(equals(Equals_Param17, chair)),
2197 not(equals(Equals_Param17, table)),
2198 holds_at(believe(Equals_Param15,
2199 bCanJump(Equals_Param16, Equals_Param17)),
2200 t)
2201 ]).
2202
2203 2216axiom(equals(Equals_Param18, chair),
2217
2218 [ not(equals(Equals_Param19, cat)),
2219 not(equals(Equals_Param19, cat)),
2220 holds_at(believe(Equals_Param19,
2221 bCanJump(Equals_Param18, Equals_Param20)),
2222 t)
2223 ]).
2224axiom(equals(Equals_Param18, chair),
2225
2226 [ not(equals(Equals_Param18, floor)),
2227 not(equals(Equals_Param19, cat)),
2228 holds_at(believe(Equals_Param19,
2229 bCanJump(Equals_Param18, Equals_Param20)),
2230 t)
2231 ]).
2232axiom(equals(Equals_Param18, chair),
2233
2234 [ not(equals(Equals_Param20, chair)),
2235 not(equals(Equals_Param19, cat)),
2236 holds_at(believe(Equals_Param19,
2237 bCanJump(Equals_Param18, Equals_Param20)),
2238 t)
2239 ]).
2240axiom(equals(Equals_Param18, chair),
2241
2242 [ not(equals(Equals_Param19, cat)),
2243 not(equals(Equals_Param18, shelf)),
2244 holds_at(believe(Equals_Param19,
2245 bCanJump(Equals_Param18, Equals_Param20)),
2246 t)
2247 ]).
2248axiom(equals(Equals_Param18, chair),
2249
2250 [ not(equals(Equals_Param18, floor)),
2251 not(equals(Equals_Param18, shelf)),
2252 holds_at(believe(Equals_Param19,
2253 bCanJump(Equals_Param18, Equals_Param20)),
2254 t)
2255 ]).
2256axiom(equals(Equals_Param18, chair),
2257
2258 [ not(equals(Equals_Param20, chair)),
2259 not(equals(Equals_Param18, shelf)),
2260 holds_at(believe(Equals_Param19,
2261 bCanJump(Equals_Param18, Equals_Param20)),
2262 t)
2263 ]).
2264axiom(equals(Equals_Param18, chair),
2265
2266 [ not(equals(Equals_Param19, cat)),
2267 not(equals(Equals_Param20, table)),
2268 holds_at(believe(Equals_Param19,
2269 bCanJump(Equals_Param18, Equals_Param20)),
2270 t)
2271 ]).
2272axiom(equals(Equals_Param18, chair),
2273
2274 [ not(equals(Equals_Param18, floor)),
2275 not(equals(Equals_Param20, table)),
2276 holds_at(believe(Equals_Param19,
2277 bCanJump(Equals_Param18, Equals_Param20)),
2278 t)
2279 ]).
2280axiom(equals(Equals_Param18, chair),
2281
2282 [ not(equals(Equals_Param20, chair)),
2283 not(equals(Equals_Param20, table)),
2284 holds_at(believe(Equals_Param19,
2285 bCanJump(Equals_Param18, Equals_Param20)),
2286 t)
2287 ]).
2288
2289 2302axiom(equals(Equals_Param21, table),
2303
2304 [ not(equals(Equals_Param22, cat)),
2305 not(equals(Equals_Param22, cat)),
2306 holds_at(believe(Equals_Param22,
2307 bCanJump(Equals_Param23, Equals_Param21)),
2308 t)
2309 ]).
2310axiom(equals(Equals_Param21, table),
2311
2312 [ not(equals(Equals_Param23, floor)),
2313 not(equals(Equals_Param22, cat)),
2314 holds_at(believe(Equals_Param22,
2315 bCanJump(Equals_Param23, Equals_Param21)),
2316 t)
2317 ]).
2318axiom(equals(Equals_Param21, table),
2319
2320 [ not(equals(Equals_Param21, chair)),
2321 not(equals(Equals_Param22, cat)),
2322 holds_at(believe(Equals_Param22,
2323 bCanJump(Equals_Param23, Equals_Param21)),
2324 t)
2325 ]).
2326axiom(equals(Equals_Param21, table),
2327
2328 [ not(equals(Equals_Param22, cat)),
2329 not(equals(Equals_Param23, shelf)),
2330 holds_at(believe(Equals_Param22,
2331 bCanJump(Equals_Param23, Equals_Param21)),
2332 t)
2333 ]).
2334axiom(equals(Equals_Param21, table),
2335
2336 [ not(equals(Equals_Param23, floor)),
2337 not(equals(Equals_Param23, shelf)),
2338 holds_at(believe(Equals_Param22,
2339 bCanJump(Equals_Param23, Equals_Param21)),
2340 t)
2341 ]).
2342axiom(equals(Equals_Param21, table),
2343
2344 [ not(equals(Equals_Param21, chair)),
2345 not(equals(Equals_Param23, shelf)),
2346 holds_at(believe(Equals_Param22,
2347 bCanJump(Equals_Param23, Equals_Param21)),
2348 t)
2349 ]).
2350axiom(equals(Equals_Param21, table),
2351
2352 [ not(equals(Equals_Param22, cat)),
2353 not(equals(Equals_Param21, table)),
2354 holds_at(believe(Equals_Param22,
2355 bCanJump(Equals_Param23, Equals_Param21)),
2356 t)
2357 ]).
2358axiom(equals(Equals_Param21, table),
2359
2360 [ not(equals(Equals_Param23, floor)),
2361 not(equals(Equals_Param21, table)),
2362 holds_at(believe(Equals_Param22,
2363 bCanJump(Equals_Param23, Equals_Param21)),
2364 t)
2365 ]).
2366axiom(equals(Equals_Param21, table),
2367
2368 [ not(equals(Equals_Param21, chair)),
2369 not(equals(Equals_Param21, table)),
2370 holds_at(believe(Equals_Param22,
2371 bCanJump(Equals_Param23, Equals_Param21)),
2372 t)
2373 ]).
2374
2375 2388axiom(equals(Equals_Param24, cat),
2389
2390 [ not(equals(Equals_Param24, cat)),
2391 not(equals(Equals_Param24, cat)),
2392 holds_at(believe(Equals_Param24,
2393 bCanJump(Equals_Param25, Equals_Param26)),
2394 t)
2395 ]).
2396axiom(equals(Equals_Param24, cat),
2397
2398 [ not(equals(Equals_Param25, floor)),
2399 not(equals(Equals_Param24, cat)),
2400 holds_at(believe(Equals_Param24,
2401 bCanJump(Equals_Param25, Equals_Param26)),
2402 t)
2403 ]).
2404axiom(equals(Equals_Param24, cat),
2405
2406 [ not(equals(Equals_Param26, chair)),
2407 not(equals(Equals_Param24, cat)),
2408 holds_at(believe(Equals_Param24,
2409 bCanJump(Equals_Param25, Equals_Param26)),
2410 t)
2411 ]).
2412axiom(equals(Equals_Param24, cat),
2413
2414 [ not(equals(Equals_Param24, cat)),
2415 not(equals(Equals_Param25, chair)),
2416 holds_at(believe(Equals_Param24,
2417 bCanJump(Equals_Param25, Equals_Param26)),
2418 t)
2419 ]).
2420axiom(equals(Equals_Param24, cat),
2421
2422 [ not(equals(Equals_Param25, floor)),
2423 not(equals(Equals_Param25, chair)),
2424 holds_at(believe(Equals_Param24,
2425 bCanJump(Equals_Param25, Equals_Param26)),
2426 t)
2427 ]).
2428axiom(equals(Equals_Param24, cat),
2429
2430 [ not(equals(Equals_Param26, chair)),
2431 not(equals(Equals_Param25, chair)),
2432 holds_at(believe(Equals_Param24,
2433 bCanJump(Equals_Param25, Equals_Param26)),
2434 t)
2435 ]).
2436axiom(equals(Equals_Param24, cat),
2437
2438 [ not(equals(Equals_Param24, cat)),
2439 not(equals(Equals_Param26, table)),
2440 holds_at(believe(Equals_Param24,
2441 bCanJump(Equals_Param25, Equals_Param26)),
2442 t)
2443 ]).
2444axiom(equals(Equals_Param24, cat),
2445
2446 [ not(equals(Equals_Param25, floor)),
2447 not(equals(Equals_Param26, table)),
2448 holds_at(believe(Equals_Param24,
2449 bCanJump(Equals_Param25, Equals_Param26)),
2450 t)
2451 ]).
2452axiom(equals(Equals_Param24, cat),
2453
2454 [ not(equals(Equals_Param26, chair)),
2455 not(equals(Equals_Param26, table)),
2456 holds_at(believe(Equals_Param24,
2457 bCanJump(Equals_Param25, Equals_Param26)),
2458 t)
2459 ]).
2460
2461 2474axiom(equals(Equals_Param27, shelf),
2475
2476 [ not(equals(Equals_Param28, cat)),
2477 not(equals(Equals_Param28, cat)),
2478 holds_at(believe(Equals_Param28,
2479 bCanJump(Equals_Param27, Equals_Param29)),
2480 t)
2481 ]).
2482axiom(equals(Equals_Param27, shelf),
2483
2484 [ not(equals(Equals_Param27, floor)),
2485 not(equals(Equals_Param28, cat)),
2486 holds_at(believe(Equals_Param28,
2487 bCanJump(Equals_Param27, Equals_Param29)),
2488 t)
2489 ]).
2490axiom(equals(Equals_Param27, shelf),
2491
2492 [ not(equals(Equals_Param29, chair)),
2493 not(equals(Equals_Param28, cat)),
2494 holds_at(believe(Equals_Param28,
2495 bCanJump(Equals_Param27, Equals_Param29)),
2496 t)
2497 ]).
2498axiom(equals(Equals_Param27, shelf),
2499
2500 [ not(equals(Equals_Param28, cat)),
2501 not(equals(Equals_Param27, chair)),
2502 holds_at(believe(Equals_Param28,
2503 bCanJump(Equals_Param27, Equals_Param29)),
2504 t)
2505 ]).
2506axiom(equals(Equals_Param27, shelf),
2507
2508 [ not(equals(Equals_Param27, floor)),
2509 not(equals(Equals_Param27, chair)),
2510 holds_at(believe(Equals_Param28,
2511 bCanJump(Equals_Param27, Equals_Param29)),
2512 t)
2513 ]).
2514axiom(equals(Equals_Param27, shelf),
2515
2516 [ not(equals(Equals_Param29, chair)),
2517 not(equals(Equals_Param27, chair)),
2518 holds_at(believe(Equals_Param28,
2519 bCanJump(Equals_Param27, Equals_Param29)),
2520 t)
2521 ]).
2522axiom(equals(Equals_Param27, shelf),
2523
2524 [ not(equals(Equals_Param28, cat)),
2525 not(equals(Equals_Param29, table)),
2526 holds_at(believe(Equals_Param28,
2527 bCanJump(Equals_Param27, Equals_Param29)),
2528 t)
2529 ]).
2530axiom(equals(Equals_Param27, shelf),
2531
2532 [ not(equals(Equals_Param27, floor)),
2533 not(equals(Equals_Param29, table)),
2534 holds_at(believe(Equals_Param28,
2535 bCanJump(Equals_Param27, Equals_Param29)),
2536 t)
2537 ]).
2538axiom(equals(Equals_Param27, shelf),
2539
2540 [ not(equals(Equals_Param29, chair)),
2541 not(equals(Equals_Param29, table)),
2542 holds_at(believe(Equals_Param28,
2543 bCanJump(Equals_Param27, Equals_Param29)),
2544 t)
2545 ]).
2546
2547 2560axiom(equals(Equals_Param30, table),
2561
2562 [ not(equals(Equals_Param31, cat)),
2563 not(equals(Equals_Param31, cat)),
2564 holds_at(believe(Equals_Param31,
2565 bCanJump(Equals_Param32, Equals_Param30)),
2566 t)
2567 ]).
2568axiom(equals(Equals_Param30, table),
2569
2570 [ not(equals(Equals_Param32, floor)),
2571 not(equals(Equals_Param31, cat)),
2572 holds_at(believe(Equals_Param31,
2573 bCanJump(Equals_Param32, Equals_Param30)),
2574 t)
2575 ]).
2576axiom(equals(Equals_Param30, table),
2577
2578 [ not(equals(Equals_Param30, chair)),
2579 not(equals(Equals_Param31, cat)),
2580 holds_at(believe(Equals_Param31,
2581 bCanJump(Equals_Param32, Equals_Param30)),
2582 t)
2583 ]).
2584axiom(equals(Equals_Param30, table),
2585
2586 [ not(equals(Equals_Param31, cat)),
2587 not(equals(Equals_Param32, chair)),
2588 holds_at(believe(Equals_Param31,
2589 bCanJump(Equals_Param32, Equals_Param30)),
2590 t)
2591 ]).
2592axiom(equals(Equals_Param30, table),
2593
2594 [ not(equals(Equals_Param32, floor)),
2595 not(equals(Equals_Param32, chair)),
2596 holds_at(believe(Equals_Param31,
2597 bCanJump(Equals_Param32, Equals_Param30)),
2598 t)
2599 ]).
2600axiom(equals(Equals_Param30, table),
2601
2602 [ not(equals(Equals_Param30, chair)),
2603 not(equals(Equals_Param32, chair)),
2604 holds_at(believe(Equals_Param31,
2605 bCanJump(Equals_Param32, Equals_Param30)),
2606 t)
2607 ]).
2608axiom(equals(Equals_Param30, table),
2609
2610 [ not(equals(Equals_Param31, cat)),
2611 not(equals(Equals_Param30, table)),
2612 holds_at(believe(Equals_Param31,
2613 bCanJump(Equals_Param32, Equals_Param30)),
2614 t)
2615 ]).
2616axiom(equals(Equals_Param30, table),
2617
2618 [ not(equals(Equals_Param32, floor)),
2619 not(equals(Equals_Param30, table)),
2620 holds_at(believe(Equals_Param31,
2621 bCanJump(Equals_Param32, Equals_Param30)),
2622 t)
2623 ]).
2624axiom(equals(Equals_Param30, table),
2625
2626 [ not(equals(Equals_Param30, chair)),
2627 not(equals(Equals_Param30, table)),
2628 holds_at(believe(Equals_Param31,
2629 bCanJump(Equals_Param32, Equals_Param30)),
2630 t)
2631 ]).
2632
2633
2636 2637axiom(not(initially(believe(cat, bSatiated(cat)))),
2638 []).
2639
2640
2643
2644
2647 2648axiom(not(initially(satiated(cat))),
2649 []).
2650
2651% From /opt/logicmoo_workspace/packs_sys/small_adventure_games/prolog/ec_planner/examples/Mueller2006/Chapter11/HungryCat.e:278
2652% completion Happens
2653% From /opt/logicmoo_workspace/packs_sys/small_adventure_games/prolog/ec_planner/examples/Mueller2006/Chapter11/HungryCat.e:279
2654==> completion(happens).
2655
2656% range time 0 7
2657% From /opt/logicmoo_workspace/packs_sys/small_adventure_games/prolog/ec_planner/examples/Mueller2006/Chapter11/HungryCat.e:281
2658==> range(time,0,7).
2659
2660% range offset 1 1
2661% From /opt/logicmoo_workspace/packs_sys/small_adventure_games/prolog/ec_planner/examples/Mueller2006/Chapter11/HungryCat.e:282
2662==> range(offset,1,1).