(define (domain flp)(:requirements :negative-preconditions :conditional-effects :equality :typing :fluents :durative-actions :derived-predicates)(:types intelligentagent residence vehicle tool container - object modeoftransportation - category object physicallocation - thing person - intelligentagent residence - physicallocation vehicle - container)(:predicates (autonomous ?a - intelligentagent)(location ?o - object ?l - physicallocation)(contains ?c - container ?o - object)(mobile ?ob - object)(directly-holding ?a - intelligentagent ?o - object)(travel-path ?m - modeoftransportation ?l0 ?l1 - physicallocation)(driving-p ?m - modeoftransportation)(walking-p ?m - modeoftransportation) )(:functions (travel-distance ?m - modeoftransportation ?l0 ?l1 - physicallocation)(travel-duration ?m - modeoftransportation ?l0 ?l1 - physicallocation) )(:durative-action walk :parameters (?a - intelligentagent ?l0 ?l1 - physicallocation ?m - modeoftransportation) :duration (= ?duration (travel-duration ?m ?l0 ?l1) ) :condition (and (over all (walking-p ?m) )(over all (travel-path ?m ?l0 ?l1) )(over all (autonomous ?a) )(at start (location ?a ?l0) ) ) :effect (and (at end (not (location ?a ?l0) ) )(at end (location ?a ?l1) ) ) )(:durative-action pick-up :parameters (?a - intelligentagent ?o - object ?l - physicallocation) :duration (= ?duration 0) :condition (and (over all (autonomous ?a) )(over all (mobile ?o) )(at start (not (directly-holding ?a ?o) ) )(at start (location ?a ?l) )(at start (location ?o ?l) ) ) :effect (and (at end (directly-holding ?a ?o) ) ) )(:durative-action set-down :parameters (?a - intelligentagent ?o - object ?l - physicallocation) :duration (= ?duration 0) :condition (and (over all (autonomous ?a) )(over all (mobile ?o) )(at start (directly-holding ?a ?o) )(at start (location ?a ?l) ) ) :effect (and (at end (location ?o ?l) )(at end (not (directly-holding ?a ?o) ) ) ) )(:durative-action carry :parameters (?a - intelligentagent ?o - object ?l0 ?l1 - physicallocation ?m - modeoftransportation) :duration (= ?duration (travel-duration ?m ?l0 ?l1) ) :condition (and (over all (walking-p ?m) )(over all (travel-path ?m ?l0 ?l1) )(over all (autonomous ?a) )(over all (mobile ?o) )(over all (directly-holding ?a ?o) )(at start (location ?a ?l0) )(at start (location ?o ?l0) ) ) :effect (and (at end (not (location ?a ?l0) ) )(at end (not (location ?o ?l0) ) )(at end (location ?a ?l1) )(at end (location ?o ?l1) ) ) )(:durative-action place-into :parameters (?a - intelligentagent ?o - object ?c - container ?l - physicallocation) :duration (= ?duration 0) :condition (and (over all (autonomous ?a) )(over all (mobile ?o) )(at start (directly-holding ?a ?o) )(at start (location ?a ?l) )(at start (location ?o ?l) )(at start (location ?c ?l) )(at start (not (contains ?c ?o) ) ) ) :effect (and (at end (contains ?c ?o) )(at end (not (directly-holding ?a ?o) ) ) ) )(:durative-action drive :parameters (?a - intelligentagent ?v - vehicle ?l0 ?l1 - physicallocation ?m - modeoftransportation) :duration (= ?duration (travel-duration ?m ?l0 ?l1) ) :condition (and (over all (driving-p ?m) )(over all (travel-path ?m ?l0 ?l1) )(over all (autonomous ?a) )(over all (mobile ?v) )(at start (location ?a ?l0) )(at start (location ?v ?l0) ) ) :effect (and (at end (not (location ?a ?l0) ) )(at end (not (location ?v ?l0) ) )(at end (location ?a ?l1) )(at end (location ?v ?l1) ) ) ) )