(define (domain driverlog) (:requirements :strips) (:predicates (OBJ ?obj) (TRUCK ?truck) (LOCATION ?loc) (driver ?d) (at ?obj ?loc) (in ?obj1 ?obj) (driving ?d ?v) (link ?x ?y) (path ?x ?y) (empty ?v) ) (:action LOAD-TRUCK :parameters (?obj ?truck ?loc) :precondition (and (OBJ ?obj) (TRUCK ?truck) (LOCATION ?loc) (at ?truck ?loc) (at ?obj ?loc)) :effect (and (not (at ?obj ?loc)) (in ?obj ?truck))) (:action UNLOAD-TRUCK :parameters (?obj ?truck ?loc) :precondition (and (OBJ ?obj) (TRUCK ?truck) (LOCATION ?loc) (at ?truck ?loc) (in ?obj ?truck)) :effect (and (not (in ?obj ?truck)) (at ?obj ?loc))) (:action BOARD-TRUCK :parameters (?driver ?truck ?loc) :precondition (and (DRIVER ?driver) (TRUCK ?truck) (LOCATION ?loc) (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 ?truck ?loc) :precondition (and (DRIVER ?driver) (TRUCK ?truck) (LOCATION ?loc) (at ?truck ?loc) (driving ?driver ?truck)) :effect (and (not (driving ?driver ?truck)) (at ?driver ?loc) (empty ?truck))) (:action DRIVE-TRUCK :parameters (?truck ?loc-from ?loc-to ?driver) :precondition (and (TRUCK ?truck) (LOCATION ?loc-from) (LOCATION ?loc-to) (DRIVER ?driver) (at ?truck ?loc-from) (driving ?driver ?truck) (link ?loc-from ?loc-to)) :effect (and (not (at ?truck ?loc-from)) (at ?truck ?loc-to))) (:action WALK :parameters (?driver ?loc-from ?loc-to) :precondition (and (DRIVER ?driver) (LOCATION ?loc-from) (LOCATION ?loc-to) (at ?driver ?loc-from) (path ?loc-from ?loc-to)) :effect (and (not (at ?driver ?loc-from)) (at ?driver ?loc-to))) )