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https://github.com/RAIRLab/Spectra.git
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More tweaks.
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parent
c9201bc0b2
commit
afde7793e5
7 changed files with 69 additions and 33 deletions
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@ -36,7 +36,7 @@ public class DepthFirstPlanner implements Planner {
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if (Operations.satisfies(background, start, goal)) {
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if (Operations.satisfies(background, start, goal)) {
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//Already satisfied. Do nothing. Return a set with an empty plan.
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//Already satisfied. Do nothing. Return a set with an empty plan.
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return Optional.of(Sets.with(Plan.newEmptyPlan(goal, background)));
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return Optional.of(Sets.with(Plan.newEmptyPlan(start, background)));
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}
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}
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@ -3,7 +3,9 @@ package edu.rpi.rair;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.Pair;
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import com.naveensundarg.shadow.prover.utils.Pair;
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import com.naveensundarg.shadow.prover.utils.Sets;
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import java.util.Comparator;
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import java.util.List;
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import java.util.List;
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import java.util.Optional;
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import java.util.Optional;
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import java.util.Set;
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import java.util.Set;
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@ -50,16 +52,19 @@ public class GoalTracker {
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Set<Plan> plans = possiblePlans.get();
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Set<Plan> plans = possiblePlans.get();
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Optional<Plan> noConflictPlan = plans.stream().filter(plan -> plan.noConflicts(currentGoals)).findAny();
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Optional<Plan> possibleNoConflictPlan = plans.stream().filter(plan -> plan.noConflicts(currentGoals)).
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sorted(Comparator.comparing(plan->plan.getActions().size())).findAny();
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if (noConflictPlan.isPresent()) {
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if (possibleNoConflictPlan.isPresent()) {
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/*
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/*
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* If there is any plan without any goal conflicts, then adopt the goal.
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* If there is any plan without any goal conflicts, then adopt the goal.
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*/
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*/
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Plan noConflictPlan = possibleNoConflictPlan.get();
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currentGoals.add(goal);
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currentGoals.add(goal);
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return noConflictPlan;
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currentState = noConflictPlan.getExpectedStates().get(noConflictPlan.getExpectedStates().size()-1);
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return possibleNoConflictPlan;
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} else {
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} else {
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@ -72,30 +77,35 @@ public class GoalTracker {
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*/
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*/
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boolean feasiblePlanExists = false;
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boolean feasiblePlanExists = false;
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int bestPlanSize = Integer.MAX_VALUE;
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double bestPriorityGap = 0;
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double bestPriorityGap = 0;
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Set<Goal> bestRemovalCandidates = null;
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Set<Goal> bestRemovalCandidates = null;
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Plan feasiblePlan = null;
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Set<Plan> feasiblePlans = Sets.newSet();
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for (Plan plan : plans) {
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for (Plan plan : plans) {
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Set<Goal> conflictingGoals = plan.getConflictingGoals(currentGoals);
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Set<Goal> conflictingGoals = plan.getConflictingGoals(currentGoals);
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double conflictSum = conflictingGoals.stream().mapToDouble(Goal::getPriority).sum();
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double conflictSum = conflictingGoals.stream().mapToDouble(Goal::getPriority).sum();
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double gap = goal.getPriority() - conflictSum;
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double gap = goal.getPriority() - conflictSum;
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if(gap > 0 && gap > bestPriorityGap ){
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if(gap > 0 && gap >= bestPriorityGap && plan.getActions().size() <= bestPlanSize){
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feasiblePlanExists = true;
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feasiblePlanExists = true;
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bestPriorityGap = gap;
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bestPriorityGap = gap;
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feasiblePlan = plan;
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bestPlanSize = plan.getActions().size();
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feasiblePlans.add(plan);
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bestRemovalCandidates= conflictingGoals;
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bestRemovalCandidates= conflictingGoals;
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}
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}
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}
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}
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if(feasiblePlan!=null){
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if(!feasiblePlans.isEmpty()){
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Plan bestPlan = feasiblePlans.stream().
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min(Comparator.comparing(plan->plan.getActions().stream().mapToInt(Action::getWeight).sum())).get();
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currentGoals.removeAll(bestRemovalCandidates);
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currentGoals.removeAll(bestRemovalCandidates);
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currentGoals.add(goal);
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currentGoals.add(goal);
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currentState = bestPlan.getExpectedStates().get(bestPlan.getExpectedStates().size()-1);
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return Optional.of(feasiblePlan);
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return Optional.of(bestPlan);
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}
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}
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else {
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else {
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@ -31,6 +31,10 @@ public class Plan {
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return actions;
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return actions;
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}
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}
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public List<State> getExpectedStates() {
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return expectedStates;
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}
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public Plan getPlanByStartingWith(Action action, State state){
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public Plan getPlanByStartingWith(Action action, State state){
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List<Action> newActions = CollectionUtils.newEmptyList();
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List<Action> newActions = CollectionUtils.newEmptyList();
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newActions.addAll(actions);
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newActions.addAll(actions);
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@ -60,26 +60,21 @@
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]
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]
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}
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}
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:goals {G1 {:priority 1.0
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:goals {G1 {:priority 6.0
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:state [(not (open (door room1)))]}
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:state [(not (open (door room1)))]}
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G2 {:priority 1.0
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G2 {:priority 6.0
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:state [(in prisoner room1)]}
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:state [(in prisoner room1)]}
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G3 {:priority 1.0
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G3 {:priority 6.0
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:state [(forall [?room]
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:state [(forall [?room]
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(if (in prisoner ?room)
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(if (in prisoner ?room)
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(in self ?room)))]}
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(in self ?room)))]}
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G4 {:priority 3.0
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G4 {:priority 2.0
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:state [(interrogates commander prisoner)]}
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G5 {:priority 1.0
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:state [(in prisoner room2)
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:state [(in prisoner room2)
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(in self room2)]}
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(in self room2)]}
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G5 {:priority 2.0
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:state [(interrogates commander prisoner)]}}
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}
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}
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}
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16
src/main/resources/edu/rpi/rair/temp.clj
Normal file
16
src/main/resources/edu/rpi/rair/temp.clj
Normal file
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@ -0,0 +1,16 @@
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{G1 {:priority 6.0
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:state [(not (open (door room1)))]}
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G2 {:priority 6.0
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:state [(in prisoner room1)]}
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G3 {:priority 6.0
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:state [(forall [?room]
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(if (in prisoner ?room)
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(in self ?room)))]}
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G4 {:priority 3.0
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:state [(in prisoner room2)
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(in self room2)]}
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G5 {:priority 2.0
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:state [(interrogates commander prisoner)]}}
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@ -60,26 +60,21 @@
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]
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]
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}
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}
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:goals {G1 {:priority 1.0
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:goals {G1 {:priority 6.0
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:state [(not (open (door room1)))]}
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:state [(not (open (door room1)))]}
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G2 {:priority 1.0
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G2 {:priority 6.0
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:state [(in prisoner room1)]}
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:state [(in prisoner room1)]}
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G3 {:priority 1.0
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G3 {:priority 6.0
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:state [(forall [?room]
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:state [(forall [?room]
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(if (in prisoner ?room)
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(if (in prisoner ?room)
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(in self ?room)))]}
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(in self ?room)))]}
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G4 {:priority 3.0
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G4 {:priority 2.0
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:state [(interrogates commander prisoner)]}
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G5 {:priority 1.0
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:state [(in prisoner room2)
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:state [(in prisoner room2)
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(in self room2)]}
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(in self room2)]}
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G5 {:priority 2.0
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:state [(interrogates commander prisoner)]}}
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}
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}
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}
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16
target/classes/edu/rpi/rair/temp.clj
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16
target/classes/edu/rpi/rair/temp.clj
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@ -0,0 +1,16 @@
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{G1 {:priority 6.0
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:state [(not (open (door room1)))]}
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G2 {:priority 6.0
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:state [(in prisoner room1)]}
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G3 {:priority 6.0
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:state [(forall [?room]
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(if (in prisoner ?room)
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(in self ?room)))]}
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G4 {:priority 3.0
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:state [(in prisoner room2)
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(in self room2)]}
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G5 {:priority 2.0
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:state [(interrogates commander prisoner)]}}
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