STRIPS Planner 无法编译

Question

我一直在做一个关于众所周知的问题 fox-goose-beans-farmer 的项目。我正在尝试在基于浏览器的编译器 https://stripsfiddle.herokuapp.com/ 上实现它。除了 moveFoxAcross 和 moveFoxBack 之外的所有功能都有效。我看不出有什么破绽。有人可以指出我的错误或建议任何有效的语法源。这是我的域代码：

(define (domain domain-FGB)
(:requirements :strips :typing)
(:types fox goose beans farmer onLeftBank)

(:action moveGooseAcross
    :parameters (?g - goose ?l - onLeftBank ?f - farmer)
    :precondition (and (not (at ?g ?l)) (not (at ?f ?l)))
    :effect (and (at ?g ?l) (at ?f ?l))

    )

(:action moveFoxAcross
    :parameters (?fo - fox ?l - onLeftBank ?f - farmer ?b - beans ?g - goose)
    :precondition (and (not (at ?fo ?l)) (not (at ?f ?l))(or (and (not (at ?b ?l)) (at ?g ?l)) (and (at ?b ?l) (not (?g ?l)))))
    :effect (and (at ?fo ?l) (at ?f ?l))

    )

(:action moveBeansAcross 
    :parameters (?b - beans ?fo - fox ?l - onLeftBank ?f - farmer ?g - goose)
    :precondition (and (not (at ?b ?l)) (not (at ?f ?l))(or (and (not (at ?fo ?l)) (at ?g ?l)) (and (at ?fo ?l) (not (at ?g ?l)))))
    :effect (and (at ?b ?l) (at ?f ?l))

    )

(:action farmerAcrossRiver 
    :parameters (?f - farmer ?l - onLeftBank)
    :precondition (not (at ?f ?l))
    :effect (at ?f ?l)

    )

(:action moveGooseBack 
    :parameters (?g - goose ?l - onLeftBank ?f - farmer)
    :precondition (and (at ?g ?l)   (at ?f ?l))
    :effect (and (not (at ?g ?l)) (not (at ?f ?l))))

(:action moveFoxBack 
    :parameters (?fo - fox ?l - onLeftBank ?f - farmer ?b - beans ?g - goose)
    :precondition (and (at ?fo ?l) (at ?f ?l) (or (and (not (at ?b ?l)) (at ?g ?l)) (and (at ?b ?l) (not (?g ?l)))))
    :effect (and (not (at ?fo ?l)) (not (at ?f ?l))))

(:action moveBeansBack 
    :parameters (?b - beans ?fo - fox ?l - onLeftBank ?f - farmer ?g - goose)
    :precondition (and (at ?b ?l) (at ?f ?l)(or (and (not (at ?fo ?l)) (at ?g ?l)) (and (at ?fo ?l) (not (at ?g ?l)))))
    :effect (and (not (at ?b ?l)) (not (at ?f ?l))))

(:action farmerGoesBack 
    :parameters (?f - farmer ?l - onLeftBank)
    :precondition (at ?f ?l)
    :effect (not (at ?f ?l))
    ))

这是我的问题代码：

(define (problem FGB)
(:domain domain-FGB)
(:objects 
    FOX - fox 
    GOOSE - goose 
    BEANS - beans 
    FARMER - farmer
    ONLEFTBANK - onLeftBank)

(:init 
    (and (not(at FOX ONLEFTBANK)) (not(at GOOSE ONLEFTBANK)) (not(at FARMER ONLEFTBANK)) (not(at BEANS ONLEFTBANK))))

(:goal (and (at FOX ONLEFTBANK) (at GOOSE ONLEFTBANK) (at FARMER ONLEFTBANK) (at BEANS ONLEFTBANK))))

这是我的问题：

只有 moveFoxAcross 和 moveFoxBack 函数不起作用并给出编译错误你能帮我看看为什么吗？
即使我在没有它们的情况下编译，它也给了我 0 个解决方案。
有什么例子可以帮助我解决这个问题吗？

您可以从域部分的列表中 select "Create your own" 和 copy/paste 我的代码自己尝试。

提前致谢

Answer 1

问题是第二个or子句的第二个and子句中缺少"at"。下面的大写字母 AT。

:precondition (and 
               (not (at ?fo ?l)) 
               (not (at ?f ?l)) 
               (or (and 
                      (not (at ?b ?l)) 
                      (at ?g ?l)
                   ) 
                   (and 
                      (at ?b ?l) 
                      (not (AT ?g ?l))
                   )
                )
              )

但我无法通过此更正找到解决方案。我继续工作，如果找到任何解决方案，我会通知。

STRIPS Planner 无法编译

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microsoft-distributed-file-system

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这是我的问题：