;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;; Simpler domain - vehicles, but no boarding and disembarking (define (domain road-operators) (:requirements :strips) (:predicates (at ?v ?l) (road ?l1 ?l2) (bridge ?l1 ?l2) (place ?l) (vehicle ?v)) (:action drive :parameters (?vehicle ?location1 ?location2) :precondition (and (at ?vehicle ?location1) (road ?location1 ?location2)) :effect (and (at ?vehicle ?location2) (not (at ?vehicle ?location1)))) (:action cross :parameters (?vehicle ?location1 ?location2) :precondition (and (at ?vehicle ?location1) (bridge ?location1 ?location2)) :effect (and (at ?vehicle ?location2) (not (at ?vehicle ?location1)))))