(define (domain driverlog) (:requirements :typing :durative-actions :fluents) (: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) ) (:functions (time-to-walk ?loc ?loc1 - location) (time-to-drive ?loc ?loc1 - location)) (:durative-action LOAD-TRUCK :parameters (?obj - obj ?truck - truck ?loc - location) :duration (= ?duration 2) :condition (and (over all (at ?truck ?loc)) (at start (at ?obj ?loc))) :effect (and (at start (not (at ?obj ?loc))) (at end (in ?obj ?truck)))) (:durative-action UNLOAD-TRUCK :parameters (?obj - obj ?truck - truck ?loc - location) :duration (= ?duration 2) :condition (and (over all (at ?truck ?loc)) (at start (in ?obj ?truck))) :effect (and (at start (not (in ?obj ?truck))) (at end (at ?obj ?loc)))) (:durative-action BOARD-TRUCK :parameters (?driver - driver ?truck - truck ?loc - location) :duration (= ?duration 1) :condition (and (over all (at ?truck ?loc)) (at start (at ?driver ?loc)) (at start (empty ?truck))) :effect (and (at start (not (at ?driver ?loc))) (at end (driving ?driver ?truck)) (at start (not (empty ?truck))))) (:durative-action DISEMBARK-TRUCK :parameters (?driver - driver ?truck - truck ?loc - location) :duration (= ?duration 1) :condition (and (over all (at ?truck ?loc)) (at start (driving ?driver ?truck))) :effect (and (at start (not (driving ?driver ?truck))) (at end (at ?driver ?loc)) (at end (empty ?truck)))) (:durative-action DRIVE-TRUCK :parameters (?truck - truck ?loc-from - location ?loc-to - location ?driver - driver) :duration (= ?duration (time-to-drive ?loc-from ?loc-to)) :condition (and (at start (at ?truck ?loc-from)) (over all (driving ?driver ?truck)) (at start (link ?loc-from ?loc-to))) :effect (and (at start (not (at ?truck ?loc-from))) (at end (at ?truck ?loc-to)))) (:durative-action WALK :parameters (?driver - driver ?loc-from - location ?loc-to - location) :duration (= ?duration (time-to-walk ?loc-from ?loc-to)) :condition (and (at start (at ?driver ?loc-from)) (at start (path ?loc-from ?loc-to))) :effect (and (at start (not (at ?driver ?loc-from))) (at end (at ?driver ?loc-to)))) )