From 6008eb901de3322452c4dac5feb5a49fe618485e Mon Sep 17 00:00:00 2001
From: Francesco Fuggitti <francesco.fuggitti@gmail.com>
Date: Tue, 8 Nov 2022 17:40:24 +0100
Subject: [PATCH] add different version of BW nondeterministic

---
 .../pddl_files/blocksworld_fond/domain.pddl   | 29 +++++++++++++++++++
 .../pddl_files/blocksworld_fond/p01.pddl      | 11 +++++++
 2 files changed, 40 insertions(+)
 create mode 100644 tests/fixtures/pddl_files/blocksworld_fond/domain.pddl
 create mode 100644 tests/fixtures/pddl_files/blocksworld_fond/p01.pddl

diff --git a/tests/fixtures/pddl_files/blocksworld_fond/domain.pddl b/tests/fixtures/pddl_files/blocksworld_fond/domain.pddl
new file mode 100644
index 0000000..98ff5e9
--- /dev/null
+++ b/tests/fixtures/pddl_files/blocksworld_fond/domain.pddl
@@ -0,0 +1,29 @@
+(define (domain blocks-world-domain)
+  (:requirements :strips :equality :conditional-effects :non-deterministic)
+
+  (:constants Table)
+
+  (:predicates (on ?x ?y)
+	       (clear ?x)
+	       (block ?b)
+	       )
+
+  ;; Define step for placing one block on another.
+  (:action puton
+     :parameters (?x ?y ?z)
+     :precondition (and (on ?x ?z) (clear ?x) (clear ?y)
+             (not (= ?y ?z)) (not (= ?x ?z))
+             (not (= ?x ?y)) (not (= ?x Table)))
+     :effect
+            (oneof
+            (and (on ?x ?y) (not (on ?x ?z))
+            (when (not (= ?z Table)) (clear ?z))
+            (when (not (= ?y Table)) (not (clear ?y)))
+            )
+            (and (on ?x Table)
+            (when (not (= ?z Table)) (and (not (on ?x ?z)) (clear ?z)))
+            (when (not (= ?y Table)) (not (clear ?y)))
+            )
+            )
+       )
+	)
diff --git a/tests/fixtures/pddl_files/blocksworld_fond/p01.pddl b/tests/fixtures/pddl_files/blocksworld_fond/p01.pddl
new file mode 100644
index 0000000..38dfc25
--- /dev/null
+++ b/tests/fixtures/pddl_files/blocksworld_fond/p01.pddl
@@ -0,0 +1,11 @@
+(define (problem sussman-anomaly)       ; graphplan 3 steps
+    (:domain blocks-world-domain)
+  (:objects A B C)
+  (:init (block A) (block B) (block C) (block Table)
+	 (on C A) (on A Table) (on B Table)
+	 (clear C) (clear B) (clear Table))
+  ;(:goal (eventually (on B A)) 
+  ;)
+  (:goal (and ))
+
+)