size constraints

supermarket-domain.pddl

@@ -6,6 +6,7 @@
 )
 
 (:functions
+(numberofcarrings ?a - agent)
 (capacity ?a - agent)
 )
 (:predicates
@@ -19,24 +20,23 @@
 ;(noton ?i - item ?a - agent)
 (haspath ?from - location ?to - location)
 
-
 )
 
 
 (:durative-action pick
 :parameters (?i - item ?a - agent ?l - location)
 :duration (= ?duration 100)
-:condition(and(over all(at ?a ?l)) (at start(at ?i ?l)) (at start <(capacity ?a) 2)
+:condition(and(over all(at ?a ?l)) (at start(at ?i ?l)) (at start <(capacity ?a) 2) (<(numberofcarrings ?a)(capacity ?a))
 )
-:effect(and (at start(not (at ?i ?l))) (at end(on ?i ?a)))
+:effect(and (at start(not (at ?i ?l))) (at end(on ?i ?a)) (at end(increase (numberofcarrings ?a) 1))  )
 )
 
 (:durative-action drop
 :parameters (?i - item ?a - agent ?l - location)
 :duration (= ?duration 100)
 :condition(and(over all(at ?a ?l)) (at start(on ?i ?a))
 )
-:effect(and (at start(not (on ?i ?a))) (at end(at ?i ?l)))
+:effect(and (at start(not (on ?i ?a))) (at end(at ?i ?l)) (at end(decrease (numberofcarrings) 1)))
 )
 
 (:durative-action move