(define (domain driverlog) (:requirements :typing :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 ?l1 ?l2 - location) (time-to-drive ?l1 ?l2 - location) (fuel-used) (fuel-per-minute ?t - truck) (load ?t - 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) (increase (load ?truck) 1) (increase (fuel-per-minute ?truck) (+ (load ?truck) 1)))) (: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) (decrease (load ?truck) 1) (decrease (fuel-per-minute ?truck) (load ?truck)))) (: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) (increase (fuel-used) (* (fuel-per-minute ?truck) (time-to-drive ?loc-from ?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))) )