(define (domain Depot)
(:requirements :typing)
(:types place locatable - object
depot distributor - place
truck hoist surface - locatable
pallet crate - surface)
(:predicates (at ?x - locatable ?y - place)
(on ?x - crate ?y - surface)
(in ?x - crate ?y - truck)
(lifting ?x - hoist ?y - crate)
(available ?x - hoist)
(clear ?x - surface))
(:action Drive
:parameters (?x - truck ?y - place ?z - place)
:precondition (and (at ?x ?y))
:effect (and (not (at ?x ?y)) (at ?x ?z)))
(:action Lift
:parameters (?x - hoist ?y - crate ?z - surface ?p - place)
:precondition (and (at ?x ?p) (available ?x) (at ?y ?p) (on ?y ?z) (clear ?y))
:effect (and (not (at ?y ?p)) (lifting ?x ?y) (not (clear ?y)) (not (available ?x))
(clear ?z) (not (on ?y ?z))))
(:action Drop
:parameters (?x - hoist ?y - crate ?z - surface ?p - place)
:precondition (and (at ?x ?p) (at ?z ?p) (clear ?z) (lifting ?x ?y))
:effect (and (available ?x) (not (lifting ?x ?y)) (at ?y ?p) (not (clear ?z)) (clear ?y)
(on ?y ?z)))
(:action Load
:parameters (?x - hoist ?y - crate ?z - truck ?p - place)
:precondition (and (at ?x ?p) (at ?z ?p) (lifting ?x ?y))
:effect (and (not (lifting ?x ?y)) (in ?y ?z) (available ?x)))
(:action Unload
:parameters (?x - hoist ?y - crate ?z - truck ?p - place)
:precondition (and (at ?x ?p) (at ?z ?p) (available ?x) (in ?y ?z))
:effect (and (not (in ?y ?z)) (not (available ?x)) (lifting ?x ?y)))
)