initial_state( [p(1),p(2),c(1,1),c(1,2),r(2)] ). reactive_rule( [ happens(e1, _T1, T2), holds(p(X), T2)], [happens(m(X), T3, _T4), tc(T2 =< T3)] ). l_events( happens(m(X), T1, T2), [holds(c(X,Y), T1), happens(a1(Y), T1, T2)]). terminated( happens(a1(_X), T1, _T2), p(Y), [holds(p(Y), T1)] ). terminated( happens(a2(_X), T1, _T2), p(Y), [holds(p(Y), T1)] ). initiated( happens(e2, _T1, _T2), c(2,2), []). d_pre([ happens(a1(X),T1,_T2), holds(not(r(X)),T1) ]). observe([e1], 2). observe([], 3). observe([], 4). observe([e2], 5). observe([], 6). observe([], 7). maxTime(10). fluent( p(_) ). fluent( c(_,_) ). fluent( r(_) ). fluent( d_(_,_) ) . action( a1(_) ). action( a2(_) ). event(e1). event(e2).