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plasp/instances/PDDL/ipc-2002-driver-log-strips/domain.pddl

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(define (domain driverlog)
(:requirements :typing)
(:types location locatable - object
driver truck obj - locatable
)
(:predicates
(at ?obj - locatable ?loc - location)
(in ?obj1 - obj ?obj - truck)
(driving ?d - driver ?v - truck)
(link ?x ?y - location) (path ?x ?y - location)
(empty ?v - truck)
)
(:action LOAD-TRUCK
:parameters
(?obj - obj
?truck - truck
?loc - location)
:precondition
(and (at ?truck ?loc) (at ?obj ?loc))
:effect
(and (not (at ?obj ?loc)) (in ?obj ?truck)))
(:action UNLOAD-TRUCK
:parameters
(?obj - obj
?truck - truck
?loc - location)
:precondition
(and (at ?truck ?loc) (in ?obj ?truck))
:effect
(and (not (in ?obj ?truck)) (at ?obj ?loc)))
(:action BOARD-TRUCK
:parameters
(?driver - driver
?truck - truck
?loc - location)
:precondition
(and (at ?truck ?loc) (at ?driver ?loc) (empty ?truck))
:effect
(and (not (at ?driver ?loc)) (driving ?driver ?truck) (not (empty ?truck))))
(:action DISEMBARK-TRUCK
:parameters
(?driver - driver
?truck - truck
?loc - location)
:precondition
(and (at ?truck ?loc) (driving ?driver ?truck))
:effect
(and (not (driving ?driver ?truck)) (at ?driver ?loc) (empty ?truck)))
(:action DRIVE-TRUCK
:parameters
(?truck - truck
?loc-from - location
?loc-to - location
?driver - driver)
:precondition
(and (at ?truck ?loc-from)
(driving ?driver ?truck) (link ?loc-from ?loc-to))
:effect
(and (not (at ?truck ?loc-from)) (at ?truck ?loc-to)))
(:action WALK
:parameters
(?driver - driver
?loc-from - location
?loc-to - location)
:precondition
(and (at ?driver ?loc-from) (path ?loc-from ?loc-to))
:effect
(and (not (at ?driver ?loc-from)) (at ?driver ?loc-to)))
)