; IPC5 Domain: Storage SimplePreferences ; Authors: Alfonso Gerevini and Alessandro Saetti (define (domain Storage-PropositionalSimplePreferences) (:requirements :typing :adl :preferences) (: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) (compatible ?c1 ?c2 - crate)) (:action lift :parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place) :precondition (and (connected ?a1 ?a2) (at ?h ?a2) (available ?h) (on ?c ?a1) (in ?a1 ?p)) :effect (and (not (on ?c ?a1)) (clear ?a1) (not (available ?h)) (lifting ?h ?c) (not (in ?c ?p)))) (:action drop :parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place) :precondition (and (connected ?a1 ?a2) (at ?h ?a2) (lifting ?h ?c) (clear ?a1) (in ?a1 ?p)) :effect (and (not (lifting ?h ?c)) (available ?h) (not (clear ?a1)) (on ?c ?a1) (in ?c ?p))) (:action move :parameters (?h - hoist ?from ?to - storearea) :precondition (and (at ?h ?from) (clear ?to) (connected ?from ?to)) :effect (and (not (at ?h ?from)) (at ?h ?to) (not (clear ?to)) (clear ?from))) (:action go-out :parameters (?h - hoist ?from - storearea ?to - transitarea) :precondition (and (at ?h ?from) (connected ?from ?to)) :effect (and (not (at ?h ?from)) (at ?h ?to) (clear ?from))) (:action go-in :parameters (?h - hoist ?from - transitarea ?to - storearea) :precondition (and (at ?h ?from) (connected ?from ?to) (clear ?to)) :effect (and (not (at ?h ?from)) (at ?h ?to) (not (clear ?to)))) )