(define (domain grid-visit-all) (:requirements :typing) (:types place - object) (:predicates (connected ?x ?y - place) (at-robot ?x - place) (visited ?x - place) ) (:action move :parameters (?curpos ?nextpos - place) :precondition (and (at-robot ?curpos) (connected ?curpos ?nextpos)) :effect (and (at-robot ?nextpos) (not (at-robot ?curpos)) (visited ?nextpos)) ) )