////////////////////////////////////////////////////////////////////
//
// RDDL SSP version of the Recon demo instance for IPC 2018 by Thomas
// Keller (tho.keller [at] unibas.ch), based on the IPC 2011 Recon
// domain of Tom Walsh.
//
////////////////////////////////////////////////////////////////////

instance recon_demo_inst_ssp__1 {
    domain = recon_demo_ssp;
    
    objects {
        location      : {loc00, loc01, loc02, loc10, loc11, loc12, loc20, loc21, loc22};
        rover         : {r1, r2};
        camera        : {c1, c2};
        life-detector : {l1, l2};
    };

    non-fluents {
        CONNECTED(loc00, loc01);
        CONNECTED(loc01, loc00);        
        CONNECTED(loc01, loc02);
        CONNECTED(loc02, loc01);        
        CONNECTED(loc10, loc11);
        CONNECTED(loc11, loc10);        
        CONNECTED(loc11, loc12);
        CONNECTED(loc12, loc11);
        CONNECTED(loc20, loc21);
        CONNECTED(loc21, loc20);        
        CONNECTED(loc21, loc22);
        CONNECTED(loc22, loc21);

        CONNECTED(loc00, loc10);
        CONNECTED(loc10, loc00);
        CONNECTED(loc01, loc11);
        CONNECTED(loc11, loc01);
        CONNECTED(loc02, loc12);
        CONNECTED(loc12, loc02);
        CONNECTED(loc10, loc20);
        CONNECTED(loc20, loc10);
        CONNECTED(loc11, loc21);
        CONNECTED(loc21, loc11);
        CONNECTED(loc12, loc22);
        CONNECTED(loc22, loc12);

        BASE(loc00);

        TOOL-ON(c1, r1);
        TOOL-ON(l1, r1);
        TOOL-ON(c2, r2);
        TOOL-ON(l2, r2);

        LIFE-DETECTION-PROB(loc10) = 0.4;
        LIFE-DETECTION-PROB-DAMAGED(loc10) = 0.2;

        LIFE-DETECTION-PROB(loc22) = 0.8;
        LIFE-DETECTION-PROB-DAMAGED(loc22) = 0.4;

        LIFE-DETECTION-PROB(loc02) = 0.9;
        LIFE-DETECTION-PROB-DAMAGED(loc02) = 0.5;

        IMPORTANCE(loc10) = 5;
        IMPORTANCE(loc22) = 8;
        IMPORTANCE(loc02) = 12;

        DAMAGE-PROB(loc10) = 0.8;
        DAMAGE-PROB(loc11) = 0.6;
        DAMAGE-PROB(loc12) = 0.2;
    };

    init-state { 
        rover-at(r1, loc00);
        rover-at(r2, loc00);
    };

    // all locations with non-zero probability of life must have been checked
    terminal = forall_{?loc : location} [ LIFE-DETECTION-PROB(?loc) == 0.0 | life-checked(?loc) ];
    
    discount = 1.0;
}