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plasp/instances/PDDL/ipc-1998-gripper/domain.pddl

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(define (domain gripper-strips)
(:predicates (room ?r)
(ball ?b)
(gripper ?g)
(at-robby ?r)
(at ?b ?r)
(free ?g)
(carry ?o ?g))
(:action move
:parameters (?from ?to)
:precondition (and (room ?from) (room ?to) (at-robby ?from))
:effect (and (at-robby ?to)
(not (at-robby ?from))))
(:action pick
:parameters (?obj ?room ?gripper)
:precondition (and (ball ?obj) (room ?room) (gripper ?gripper)
(at ?obj ?room) (at-robby ?room) (free ?gripper))
:effect (and (carry ?obj ?gripper)
(not (at ?obj ?room))
(not (free ?gripper))))
(:action drop
:parameters (?obj ?room ?gripper)
:precondition (and (ball ?obj) (room ?room) (gripper ?gripper)
(carry ?obj ?gripper) (at-robby ?room))
:effect (and (at ?obj ?room)
(free ?gripper)
(not (carry ?obj ?gripper)))))