{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "JDt03iE12fnd"
   },
   "source": [
    "# MA-PDDL I/O Example MA-Logistic\n",
    "\n",
    "\n",
    "[![Open In GitHub](https://img.shields.io/badge/see-Github-579aca?logo=github)](https:///github.com/aiplan4eu/unified-planning/blob/master/docs/notebooks/io/02-mapddl-writer-example.ipynb)\n",
    "[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/aiplan4eu/unified-planning/blob/master/docs/notebooks/io/02-mapddl-writer-example.ipynb)\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "LdBQnYDT2g3I"
   },
   "source": [
    "This notebook will show the possible interations between the ma-pddl language and the unified_planning usage."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "DKgLnOLN2hCo"
   },
   "source": [
    "## Setup"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "-_EplCIs3jXN"
   },
   "source": [
    "We start by installing the library with PIP"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/"
    },
    "id": "txS5e5axew6C",
    "outputId": "5e1c4418-df7f-407e-f4c7-c208b3089305",
    "tags": [
     "remove_from_CI"
    ]
   },
   "outputs": [],
   "source": [
    "!pip install --pre unified-planning[fmap]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "id": "D5EO_Nmgf3rz"
   },
   "outputs": [],
   "source": [
    "from unified_planning.shortcuts import *\n",
    "from unified_planning.model.multi_agent import *\n",
    "from collections import namedtuple\n",
    "from unified_planning.io.ma_pddl_writer import MAPDDLWriter\n",
    "\n",
    "\n",
    "problem = MultiAgentProblem(\"ma-logistic\")\n",
    "truck1 = Agent(\"truck1\", problem)\n",
    "truck2 = Agent(\"truck2\", problem)\n",
    "airplane = Agent(\"airplane\", problem)\n",
    "\n",
    "object = UserType(\"object\")\n",
    "location = UserType(\"location\", object)\n",
    "vehicle = UserType(\"vehicle\", object)\n",
    "package = UserType(\"package\", object)\n",
    "city = UserType(\"city\", object)\n",
    "airport = UserType(\"airport\", location)\n",
    "truck_ = UserType(\"truck_\", vehicle) \n",
    "airplane_ = UserType(\"airplane_\", vehicle) \n",
    "\n",
    "\n",
    "pos = Fluent(\"pos\", location=location)\n",
    "at = Fluent(\"at\", BoolType(), object=object, location=location)\n",
    "In = Fluent(\"in\", BoolType(), package=package, vehicle=vehicle)\n",
    "on = Fluent(\"on\", BoolType(), object=object)\n",
    "in_city = Fluent(\"in_city\", BoolType(), location=location, city=city)\n",
    "\n",
    "truck1.add_public_fluent(pos, default_initial_value=False)\n",
    "truck1.add_private_fluent(in_city, default_initial_value=False)\n",
    "truck1.add_public_fluent(on, default_initial_value=False)\n",
    "truck2.add_public_fluent(pos, default_initial_value=False)\n",
    "truck2.add_private_fluent(in_city, default_initial_value=False)\n",
    "truck2.add_public_fluent(on, default_initial_value=False)\n",
    "airplane.add_public_fluent(pos, default_initial_value=False)\n",
    "airplane.add_public_fluent(on, default_initial_value=False)\n",
    "problem.ma_environment.add_fluent(at, default_initial_value=False)\n",
    "problem.ma_environment.add_fluent(In, default_initial_value=False)\n",
    "\n",
    "\n",
    "load_truck = InstantaneousAction(\"load_truck\", loc=location, obj=package)\n",
    "obj = load_truck.parameter(\"obj\")\n",
    "loc = load_truck.parameter(\"loc\")\n",
    "load_truck.add_precondition(at(obj, loc))\n",
    "load_truck.add_precondition(pos(loc))\n",
    "load_truck.add_effect(at(obj, loc), False)\n",
    "load_truck.add_effect(on(obj), True)\n",
    "\n",
    "\n",
    "unload_truck = InstantaneousAction(\"unload_truck\", obj=package, loc=location)\n",
    "obj = unload_truck.parameter(\"obj\")\n",
    "loc = unload_truck.parameter(\"loc\")\n",
    "unload_truck.add_precondition(pos(loc))\n",
    "unload_truck.add_precondition(on(obj))\n",
    "unload_truck.add_effect(on(obj), False)\n",
    "unload_truck.add_effect(at(obj, loc), True)\n",
    "\n",
    "\n",
    "drive_truck = InstantaneousAction(\"drive_truck\", loc_from=location, loc_to=location, city_=city)\n",
    "loc_from = drive_truck.parameter(\"loc_from\")\n",
    "loc_to = drive_truck.parameter(\"loc_to\")\n",
    "city_ = drive_truck.parameter(\"city_\")\n",
    "drive_truck.add_precondition(pos(loc_from))\n",
    "drive_truck.add_precondition(in_city(loc_from, city_))\n",
    "drive_truck.add_precondition(in_city(loc_to, city_))\n",
    "drive_truck.add_effect(pos(loc_from), False)\n",
    "drive_truck.add_effect(pos(loc_to), True)\n",
    "\n",
    "load_airplane = InstantaneousAction(\"load_airplane\", loc = airport, obj=package)\n",
    "loc = load_airplane.parameter(\"loc\")\n",
    "obj = load_airplane.parameter(\"obj\")\n",
    "load_airplane.add_precondition(at(obj, loc))\n",
    "load_airplane.add_precondition(pos(loc))\n",
    "load_airplane.add_effect(at(obj, loc), False)\n",
    "load_airplane.add_effect(on(obj), True)\n",
    "\n",
    "unload_airplane = InstantaneousAction(\"unload_airplane\", loc = airport, obj=package)\n",
    "loc = load_airplane.parameter(\"loc\")\n",
    "obj = load_airplane.parameter(\"obj\")\n",
    "unload_airplane.add_precondition(on(obj))\n",
    "unload_airplane.add_precondition(pos(loc))\n",
    "unload_airplane.add_effect(on(obj), False)\n",
    "unload_airplane.add_effect(at(obj, loc), True)\n",
    "\n",
    "fly_airplane = InstantaneousAction(\"fly_airplane\", loc_from=airport, loc_to=airport)\n",
    "loc_from = fly_airplane.parameter(\"loc_from\")\n",
    "loc_to = fly_airplane.parameter(\"loc_to\")\n",
    "fly_airplane.add_precondition(pos(loc_from))\n",
    "fly_airplane.add_effect(pos(loc_from), False)\n",
    "fly_airplane.add_effect(pos(loc_to), True)\n",
    "\n",
    "truck1.add_action(drive_truck)\n",
    "truck1.add_action(unload_truck)\n",
    "truck1.add_action(load_truck)\n",
    "truck2.add_action(drive_truck)\n",
    "truck2.add_action(unload_truck)\n",
    "truck2.add_action(load_truck)\n",
    "airplane.add_action(load_airplane)\n",
    "airplane.add_action(unload_airplane)\n",
    "airplane.add_action(fly_airplane)\n",
    "problem.add_agent(truck1)\n",
    "problem.add_agent(truck2)\n",
    "problem.add_agent(airplane)\n",
    "\n",
    "\n",
    "#problem\n",
    "obj21 = Object(\"obj21\", package)\n",
    "obj22 = Object(\"obj22\", package)\n",
    "obj23 = Object(\"obj23\", package)\n",
    "obj11 = Object(\"obj11\", package)\n",
    "obj13 = Object(\"obj13\", package)\n",
    "obj12 = Object(\"obj12\", package)\n",
    "apt2 = Object(\"apt2\", airport)\n",
    "apt1 = Object(\"apt1\", airport)\n",
    "pos1 = Object(\"pos1\", location)\n",
    "cit1 = Object(\"cit1\", city)\n",
    "pos2 = Object(\"pos2\", location)\n",
    "cit2 = Object(\"cit2\", city)\n",
    "\n",
    "\n",
    "problem.add_object(obj21)\n",
    "problem.add_object(obj22)\n",
    "problem.add_object(obj23)\n",
    "problem.add_object(obj11)\n",
    "problem.add_object(obj13)\n",
    "problem.add_object(obj12)\n",
    "problem.add_object(apt2)\n",
    "problem.add_object(apt1)\n",
    "problem.add_object(pos1)\n",
    "problem.add_object(cit1)\n",
    "problem.add_object(pos2)\n",
    "problem.add_object(cit2)\n",
    "\n",
    "problem.set_initial_value(Dot(truck1, pos(pos1)), True)\n",
    "problem.set_initial_value(at(obj11, pos1), True)\n",
    "problem.set_initial_value(at(obj12, pos1), True)\n",
    "problem.set_initial_value(at(obj13, pos1), True)\n",
    "problem.set_initial_value(Dot(truck1, in_city(pos1, cit1)), True)\n",
    "problem.set_initial_value(Dot(truck1, in_city(apt1, cit1)), True)\n",
    "problem.set_initial_value(Dot(truck1, pos(pos1)), True)\n",
    "\n",
    "problem.set_initial_value(Dot(truck2, pos(pos2)), True)\n",
    "problem.set_initial_value(at(obj21, pos2), True)\n",
    "problem.set_initial_value(at(obj22, pos2), True)\n",
    "problem.set_initial_value(at(obj23, pos2), True)\n",
    "problem.set_initial_value(Dot(truck2, in_city(pos2, cit2)), True)\n",
    "problem.set_initial_value(Dot(truck2, in_city(apt2, cit2)), True)\n",
    "problem.set_initial_value(Dot(truck2, pos(pos2)), True)\n",
    "\n",
    "problem.set_initial_value(Dot(airplane, pos(apt2)), True)\n",
    "problem.set_initial_value(at(obj11, pos1), True)\n",
    "problem.set_initial_value(at(obj12, pos1), True)\n",
    "problem.set_initial_value(at(obj13, pos1), True)\n",
    "problem.set_initial_value(Dot(airplane, pos(apt2)), True)\n",
    "\n",
    "problem.add_goal(at(obj11, apt1))\n",
    "problem.add_goal(at(obj23, pos1))\n",
    "problem.add_goal(at(obj13, apt1))\n",
    "problem.add_goal(at(obj21, pos1))\n",
    "\n",
    "w = MAPDDLWriter(problem)\n",
    "w.write_ma_domain('logistic')\n",
    "w.write_ma_problem('logistic')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/"
    },
    "id": "zGNGyJpk4XdB",
    "outputId": "53f9aecd-566d-44d8-d142-c54fb6c4786a"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "problem name = ma-logistic\n",
      "\n",
      "types = [object, location - object, city - object, package - object, vehicle - object, airport - location]\n",
      "\n",
      "environment fluents = [\n",
      "  bool at[object=object, location=location - object]\n",
      "  bool in[package=package - object, vehicle=vehicle - object]\n",
      "]\n",
      "\n",
      "agents = [\n",
      "  Agent name = truck1\n",
      "\n",
      "private fluents = [\n",
      " bool in_city[location=location - object, city=city - object]\n",
      "]\n",
      "\n",
      "public fluents = [\n",
      " bool pos[location=location - object]\n",
      " bool on[object=object]\n",
      "]\n",
      "\n",
      "actions = [\n",
      " action drive_truck(location - object loc_from, location - object loc_to, city - object city_) {\n",
      "    preconditions = [\n",
      "      pos(loc_from)\n",
      "      in_city(loc_from, city_)\n",
      "      in_city(loc_to, city_)\n",
      "    ]\n",
      "    effects = [\n",
      "      pos(loc_from) := false\n",
      "      pos(loc_to) := true\n",
      "    ]\n",
      "  }\n",
      " action unload_truck(package - object obj, location - object loc) {\n",
      "    preconditions = [\n",
      "      pos(loc)\n",
      "      on(obj)\n",
      "    ]\n",
      "    effects = [\n",
      "      on(obj) := false\n",
      "      at(obj, loc) := true\n",
      "    ]\n",
      "  }\n",
      " action load_truck(location - object loc, package - object obj) {\n",
      "    preconditions = [\n",
      "      at(obj, loc)\n",
      "      pos(loc)\n",
      "    ]\n",
      "    effects = [\n",
      "      at(obj, loc) := false\n",
      "      on(obj) := true\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "\n",
      "  Agent name = truck2\n",
      "\n",
      "private fluents = [\n",
      " bool in_city[location=location - object, city=city - object]\n",
      "]\n",
      "\n",
      "public fluents = [\n",
      " bool pos[location=location - object]\n",
      " bool on[object=object]\n",
      "]\n",
      "\n",
      "actions = [\n",
      " action drive_truck(location - object loc_from, location - object loc_to, city - object city_) {\n",
      "    preconditions = [\n",
      "      pos(loc_from)\n",
      "      in_city(loc_from, city_)\n",
      "      in_city(loc_to, city_)\n",
      "    ]\n",
      "    effects = [\n",
      "      pos(loc_from) := false\n",
      "      pos(loc_to) := true\n",
      "    ]\n",
      "  }\n",
      " action unload_truck(package - object obj, location - object loc) {\n",
      "    preconditions = [\n",
      "      pos(loc)\n",
      "      on(obj)\n",
      "    ]\n",
      "    effects = [\n",
      "      on(obj) := false\n",
      "      at(obj, loc) := true\n",
      "    ]\n",
      "  }\n",
      " action load_truck(location - object loc, package - object obj) {\n",
      "    preconditions = [\n",
      "      at(obj, loc)\n",
      "      pos(loc)\n",
      "    ]\n",
      "    effects = [\n",
      "      at(obj, loc) := false\n",
      "      on(obj) := true\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "\n",
      "  Agent name = airplane\n",
      "\n",
      "private fluents = [\n",
      "]\n",
      "\n",
      "public fluents = [\n",
      " bool pos[location=location - object]\n",
      " bool on[object=object]\n",
      "]\n",
      "\n",
      "actions = [\n",
      " action load_airplane(airport - location loc, package - object obj) {\n",
      "    preconditions = [\n",
      "      at(obj, loc)\n",
      "      pos(loc)\n",
      "    ]\n",
      "    effects = [\n",
      "      at(obj, loc) := false\n",
      "      on(obj) := true\n",
      "    ]\n",
      "  }\n",
      " action unload_airplane(airport - location loc, package - object obj) {\n",
      "    preconditions = [\n",
      "      on(obj)\n",
      "      pos(loc)\n",
      "    ]\n",
      "    effects = [\n",
      "      on(obj) := false\n",
      "      at(obj, loc) := true\n",
      "    ]\n",
      "  }\n",
      " action fly_airplane(airport - location loc_from, airport - location loc_to) {\n",
      "    preconditions = [\n",
      "      pos(loc_from)\n",
      "    ]\n",
      "    effects = [\n",
      "      pos(loc_from) := false\n",
      "      pos(loc_to) := true\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "\n",
      "]\n",
      "\n",
      "objects = [\n",
      "  object: [obj21, obj22, obj23, obj11, obj13, obj12, apt2, apt1, pos1, cit1, pos2, cit2]\n",
      "  location - object: [apt2, apt1, pos1, pos2]\n",
      "  city - object: [cit1, cit2]\n",
      "  package - object: [obj21, obj22, obj23, obj11, obj13, obj12]\n",
      "  vehicle - object: []\n",
      "  airport - location: [apt2, apt1]\n",
      "]\n",
      "\n",
      "initial values = [\n",
      "  truck1.pos(pos1) := true\n",
      "  at(obj11, pos1) := true\n",
      "  at(obj12, pos1) := true\n",
      "  at(obj13, pos1) := true\n",
      "  truck1.in_city(pos1, cit1) := true\n",
      "  truck1.in_city(apt1, cit1) := true\n",
      "  truck2.pos(pos2) := true\n",
      "  at(obj21, pos2) := true\n",
      "  at(obj22, pos2) := true\n",
      "  at(obj23, pos2) := true\n",
      "  truck2.in_city(pos2, cit2) := true\n",
      "  truck2.in_city(apt2, cit2) := true\n",
      "  airplane.pos(apt2) := true\n",
      "  at(obj21, apt2) := false\n",
      "  at(obj22, apt2) := false\n",
      "  at(obj23, apt2) := false\n",
      "  at(obj11, apt2) := false\n",
      "  at(obj13, apt2) := false\n",
      "  at(obj12, apt2) := false\n",
      "  at(apt2, apt2) := false\n",
      "  at(apt1, apt2) := false\n",
      "  at(pos1, apt2) := false\n",
      "  at(cit1, apt2) := false\n",
      "  at(pos2, apt2) := false\n",
      "  at(cit2, apt2) := false\n",
      "  at(obj21, apt1) := false\n",
      "  at(obj22, apt1) := false\n",
      "  at(obj23, apt1) := false\n",
      "  at(obj11, apt1) := false\n",
      "  at(obj13, apt1) := false\n",
      "  at(obj12, apt1) := false\n",
      "  at(apt2, apt1) := false\n",
      "  at(apt1, apt1) := false\n",
      "  at(pos1, apt1) := false\n",
      "  at(cit1, apt1) := false\n",
      "  at(pos2, apt1) := false\n",
      "  at(cit2, apt1) := false\n",
      "  at(obj21, pos1) := false\n",
      "  at(obj22, pos1) := false\n",
      "  at(obj23, pos1) := false\n",
      "  at(apt2, pos1) := false\n",
      "  at(apt1, pos1) := false\n",
      "  at(pos1, pos1) := false\n",
      "  at(cit1, pos1) := false\n",
      "  at(pos2, pos1) := false\n",
      "  at(cit2, pos1) := false\n",
      "  at(obj11, pos2) := false\n",
      "  at(obj13, pos2) := false\n",
      "  at(obj12, pos2) := false\n",
      "  at(apt2, pos2) := false\n",
      "  at(apt1, pos2) := false\n",
      "  at(pos1, pos2) := false\n",
      "  at(cit1, pos2) := false\n",
      "  at(pos2, pos2) := false\n",
      "  at(cit2, pos2) := false\n",
      "  truck1.pos(apt2) := false\n",
      "  truck1.pos(apt1) := false\n",
      "  truck1.pos(pos2) := false\n",
      "  truck1.in_city(apt2, cit1) := false\n",
      "  truck1.in_city(pos2, cit1) := false\n",
      "  truck1.in_city(apt2, cit2) := false\n",
      "  truck1.in_city(apt1, cit2) := false\n",
      "  truck1.in_city(pos1, cit2) := false\n",
      "  truck1.in_city(pos2, cit2) := false\n",
      "  truck1.on(obj21) := false\n",
      "  truck1.on(obj22) := false\n",
      "  truck1.on(obj23) := false\n",
      "  truck1.on(obj11) := false\n",
      "  truck1.on(obj13) := false\n",
      "  truck1.on(obj12) := false\n",
      "  truck1.on(apt2) := false\n",
      "  truck1.on(apt1) := false\n",
      "  truck1.on(pos1) := false\n",
      "  truck1.on(cit1) := false\n",
      "  truck1.on(pos2) := false\n",
      "  truck1.on(cit2) := false\n",
      "  truck2.pos(apt2) := false\n",
      "  truck2.pos(apt1) := false\n",
      "  truck2.pos(pos1) := false\n",
      "  truck2.in_city(apt2, cit1) := false\n",
      "  truck2.in_city(apt1, cit1) := false\n",
      "  truck2.in_city(pos1, cit1) := false\n",
      "  truck2.in_city(pos2, cit1) := false\n",
      "  truck2.in_city(apt1, cit2) := false\n",
      "  truck2.in_city(pos1, cit2) := false\n",
      "  truck2.on(obj21) := false\n",
      "  truck2.on(obj22) := false\n",
      "  truck2.on(obj23) := false\n",
      "  truck2.on(obj11) := false\n",
      "  truck2.on(obj13) := false\n",
      "  truck2.on(obj12) := false\n",
      "  truck2.on(apt2) := false\n",
      "  truck2.on(apt1) := false\n",
      "  truck2.on(pos1) := false\n",
      "  truck2.on(cit1) := false\n",
      "  truck2.on(pos2) := false\n",
      "  truck2.on(cit2) := false\n",
      "  airplane.pos(apt1) := false\n",
      "  airplane.pos(pos1) := false\n",
      "  airplane.pos(pos2) := false\n",
      "  airplane.on(obj21) := false\n",
      "  airplane.on(obj22) := false\n",
      "  airplane.on(obj23) := false\n",
      "  airplane.on(obj11) := false\n",
      "  airplane.on(obj13) := false\n",
      "  airplane.on(obj12) := false\n",
      "  airplane.on(apt2) := false\n",
      "  airplane.on(apt1) := false\n",
      "  airplane.on(pos1) := false\n",
      "  airplane.on(cit1) := false\n",
      "  airplane.on(pos2) := false\n",
      "  airplane.on(cit2) := false\n",
      "]\n",
      "\n",
      "goals = [\n",
      "  at(obj11, apt1)\n",
      "  at(obj23, pos1)\n",
      "  at(obj13, apt1)\n",
      "  at(obj21, pos1)\n",
      "]\n",
      "\n",
      "\n"
     ]
    }
   ],
   "source": [
    "print(problem)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "6DzfopqA79tF"
   },
   "source": [
    "## MA-PDDL Writer"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "_PxnAbJW76y9"
   },
   "source": [
    "As the name suggests, `MAPDDLWriter` offers the capability of dumping a `unified_planning MultiAgentProblem` in ma-pddl.\n",
    "\n",
    "There are 3 possible usages of the `MAPDDLWriter`:\n",
    "\n",
    "- printing ma-pddl domain and problem in a different file for each agent (factored domains)\n",
    "- getting ma-pddl domain and problem for each agent as a python str\n",
    "- printing ma-pddl domain and problem for each agent to `STDOUT`"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "PjY28KuaCABy"
   },
   "source": [
    "## Writing to files"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "Vvf1vd9iCE0R"
   },
   "source": [
    "To write the ma-pddl equivalent of a `unified_planning MultiAgentProblem` to a file we use the `MAPDDLWriter.write_ma_domain` and `MAPDDLWriter.write_ma_problem` methods."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "id": "p6b3FWs30uGB"
   },
   "outputs": [],
   "source": [
    "w = MAPDDLWriter(problem)\n",
    "w.write_ma_domain('ma_logistic_directory')\n",
    "w.write_ma_problem('ma_logistic_directory')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "_yNH9bEHCY0u"
   },
   "source": [
    "### Getting domains and problems as a python strings"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "RXCLFydqDQvL"
   },
   "source": [
    "To get the ma-pddl equivalent of a `unified_planning MultiAgentProblem` as a python strings we use the `MAPDDLWriter.get_ma_domain_agent('name_of_agent')` and `MAPDDLWriter.get_ma_problem_agent('name_of_agent')` methods.\n",
    "In this way we can get the domain and problem of a particular agent."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 122
    },
    "id": "immgO6uImOq6",
    "outputId": "ecbd802a-45e6-4ba4-eb4d-34e86ed9ec31"
   },
   "outputs": [
    {
     "data": {
      "application/vnd.google.colaboratory.intrinsic+json": {
       "type": "string"
      },
      "text/plain": [
       "'(define (problem ma_logistic-problem)\\n (:domain ma_logistic-domain)\\n (:objects\\n   pos1 pos2 - location\\n   cit1 cit2 - city\\n   obj21 obj22 obj23 obj11 obj13 obj12 - package\\n   apt2 apt1 - airport\\n   truck1 - truck1_type\\n   truck2 - truck2_type\\n   airplane - airplane_type\\n )\\n (:init\\n  (a_pos truck1 pos1)\\n  (at_ obj11 pos1)\\n  (at_ obj12 pos1)\\n  (at_ obj13 pos1)\\n  (a_pos truck2 pos2)\\n  (at_ obj21 pos2)\\n  (at_ obj22 pos2)\\n  (at_ obj23 pos2)\\n  (a_pos airplane apt2))\\n (:goal (and (at_ obj11 apt1) (at_ obj23 pos1) (at_ obj13 apt1) (at_ obj21 pos1)))\\n)'"
      ]
     },
     "execution_count": 51,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "w.get_ma_domain_agent('truck1')\n",
    "w.get_ma_problem_agent('airplane')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "cOZ5SZYYrSs3"
   },
   "source": [
    "###Printing domain and problem to STDOUT"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "59plrGoCmfv5"
   },
   "source": [
    "To print the pddl equivalent of a `unified_planning Problem` to `STDOUT` we use the `MAPDDLWriter.print_ma_domain_agent('name_of_agent')` and `MAPDDLWriter.print_ma_problem_agent('name_of_agent')` methods."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/"
    },
    "id": "UO5tRAzqB7pu",
    "outputId": "93e37bcb-c498-4b3b-9100-9f8c23c3120c"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(define (domain ma_logistic-domain)\n",
      " (:requirements :factored-privacy :typing)\n",
      " (:types\n",
      "    object_ ag - object\n",
      "    truck1_type truck2_type airplane_type - ag\n",
      "    location city package vehicle - object_\n",
      "    airport - location\n",
      " )\n",
      " (:predicates\n",
      "  (at_ ?object - object_ ?location - location)\n",
      "  (in ?package - package ?vehicle - vehicle)\n",
      "  (a_pos ?agent - ag ?location - location)\n",
      "  (a_on ?agent - ag ?object - object_)\n",
      "  (:private\n",
      "   (a_in_city ?agent - ag ?location - location ?city - city)))\n",
      " (:action drive_truck\n",
      "  :parameters ( ?truck1 - truck1_type ?loc_from - location ?loc_to - location ?city_ - city)\n",
      "  :precondition (and \n",
      "   (a_pos ?truck1 ?loc_from)\n",
      "   (a_in_city ?truck1 ?loc_from ?city_)\n",
      "   (a_in_city ?truck1 ?loc_to ?city_)\n",
      "  )\n",
      "  :effect (and\n",
      "   (not (a_pos ?truck1 ?loc_from))\n",
      "   (a_pos ?truck1 ?loc_to)\n",
      "))\n",
      " (:action unload_truck\n",
      "  :parameters ( ?truck1 - truck1_type ?obj - package ?loc - location)\n",
      "  :precondition (and \n",
      "   (a_pos ?truck1 ?loc)\n",
      "   (a_on ?truck1 ?obj)\n",
      "  )\n",
      "  :effect (and\n",
      "   (not (a_on ?truck1 ?obj))\n",
      "   (at_ ?obj ?loc)\n",
      "))\n",
      " (:action load_truck\n",
      "  :parameters ( ?truck1 - truck1_type ?loc - location ?obj - package)\n",
      "  :precondition (and \n",
      "   (at_ ?obj ?loc)\n",
      "   (a_pos ?truck1 ?loc)\n",
      "  )\n",
      "  :effect (and\n",
      "   (not (at_ ?obj ?loc))\n",
      "   (a_on ?truck1 ?obj)\n",
      "))\n",
      ")\n",
      "(define (problem ma_logistic-problem)\n",
      " (:domain ma_logistic-domain)\n",
      " (:objects\n",
      "   pos1 pos2 - location\n",
      "   cit1 cit2 - city\n",
      "   obj21 obj22 obj23 obj11 obj13 obj12 - package\n",
      "   apt2 apt1 - airport\n",
      "   truck1 - truck1_type\n",
      "   truck2 - truck2_type\n",
      "   airplane - airplane_type\n",
      " )\n",
      " (:init\n",
      "  (a_pos truck1 pos1)\n",
      "  (at_ obj11 pos1)\n",
      "  (at_ obj12 pos1)\n",
      "  (at_ obj13 pos1)\n",
      "  (a_pos truck2 pos2)\n",
      "  (at_ obj21 pos2)\n",
      "  (at_ obj22 pos2)\n",
      "  (at_ obj23 pos2)\n",
      "  (a_pos airplane apt2))\n",
      " (:goal (and (at_ obj11 apt1) (at_ obj23 pos1) (at_ obj13 apt1) (at_ obj21 pos1)))\n",
      ")"
     ]
    }
   ],
   "source": [
    "w.print_ma_domain_agent('truck1')\n",
    "w.print_ma_problem_agent('airplane')"
   ]
  }
 ],
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