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domain.pddl
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; IPC5 Domain: Storage Time
; Authors: Alfonso Gerevini and Alessandro Saetti
(define (domain Storage-Time)
(:requirements :typing :durative-actions)
(:types hoist surface place area - object
container depot - place
storearea transitarea - area
area crate - surface)
(:predicates (clear ?s - storearea)
(in ?x - (either storearea crate) ?p - place)
(available ?h - hoist)
(lifting ?h - hoist ?c - crate)
(at ?h - hoist ?a - area)
(on ?c - crate ?s - storearea)
(connected ?a1 ?a2 - area))
(:durative-action lift
:parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
:duration (= ?duration 2)
:condition (and (at start (available ?h)) (at start (on ?c ?a1))
(over all (connected ?a1 ?a2)) (over all (at ?h ?a2))
(over all (in ?a1 ?p)))
:effect (and (at start (not (in ?c ?p))) (at start (not (available ?h)))
(at start (lifting ?h ?c)) (at start (not (on ?c ?a1)))
(at end (clear ?a1))))
(:durative-action drop
:parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
:duration (= ?duration 2)
:condition (and (at start (clear ?a1)) (over all (lifting ?h ?c))
(over all (connected ?a1 ?a2)) (over all (at ?h ?a2))
(over all (in ?a1 ?p)))
:effect (and (at start (not (clear ?a1))) (at end (not (lifting ?h ?c)))
(at end (available ?h)) (at end (on ?c ?a1))
(at end (in ?c ?p))))
(:durative-action move
:parameters (?h - hoist ?from ?to - storearea)
:duration (= ?duration 1)
:condition (and (at start (at ?h ?from)) (at start (clear ?to))
(over all (connected ?from ?to)))
:effect (and (at start (not (at ?h ?from))) (at start (not (clear ?to)))
(at start (clear ?from)) (at end (at ?h ?to))))
(:durative-action go-out
:parameters (?h - hoist ?from - storearea ?to - transitarea)
:duration (= ?duration 1)
:condition (and (at start (at ?h ?from)) (over all (connected ?from ?to)))
:effect (and (at start (not (at ?h ?from))) (at start (clear ?from))
(at end (at ?h ?to))))
(:durative-action go-in
:parameters (?h - hoist ?from - transitarea ?to - storearea)
:duration (= ?duration 1)
:condition (and (at start (at ?h ?from)) (at start (clear ?to))
(over all (connected ?from ?to)))
:effect (and (at start (not (at ?h ?from))) (at start (not (clear ?to)))
(at end (at ?h ?to))))
)