;Header and description

(define (domain emergency_logistics_4)

;remove requirements that are not needed
(:requirements :strips :typing :durative-actions)

(:types
    crate person carrier robot - locable
    content
    location
    capacity
)

(:predicates ;todo: define predicates here
    (isat ?o - locable ?l - location)
    (carry ?h - carrier ?c - crate)
    (capacity_c ?h - carrier ?n - capacity)
    (capacity_follow ?n1 - capacity ?n2 - capacity)
    (need ?p - person ?n - content)
    (cratecontent ?c - crate ?n - content)
    (deliverable ?c - crate)
    (satisfied ?p - person ?con - content)
    (nobusy ?r - robot)
)

(:durative-action load
    :parameters (?r - robot ?h - carrier ?c - crate ?l - location ?n1 - capacity ?n2 - capacity)
    :duration (= ?duration 2)
    :condition (and (over all (isat ?r ?l))
                    (over all (isat ?h ?l))
                    (at start (isat ?c ?l))
                    ;(at start (nobusy ?r))
                    (over all (capacity_follow ?n1 ?n2))
                    (at start (capacity_c ?h ?n2))
                    (over all (deliverable ?c)))
    :effect (and (at start (not (isat ?c ?l)))
                 ;(at start (not (nobusy ?r)))
                 ;(at end (nobusy ?r))
                 (at end (not (capacity_c ?h ?n2)))
                 (at end (capacity_c ?h ?n1))
                 (at end (carry ?h ?c)))
)

(:durative-action move
    :parameters (?c - carrier ?r - robot ?o - location ?d - location)
    :duration (= ?duration 3)
    :condition (and (at start (isat ?c ?o))(at start (isat ?r ?o))
;                                       (at start (nobusy ?r))
    )
    :effect (and (at start (not (isat ?c ?o)))
                 (at start (not (isat ?r ?o)))
;                 (at start (not (nobusy ?r)))
;                 (at end (nobusy ?r))
                 (at end (isat ?c ?d))
                 (at end (isat ?r ?d)))
)

(:durative-action deliver
    :parameters (?r - robot ?h - carrier ?p - person ?c - crate ?con - content ?l - location ?n1 - capacity ?n2 - capacity)
    :duration (= ?duration 2)
    :condition (and (over all (isat ?r ?l))
                    (over all (isat ?h ?l))
                    (over all (isat ?p ?l))
                    (at start (carry ?h ?c))
                    ;(at start (nobusy ?r))
                    (over all (need ?p ?con))
                    (over all (cratecontent ?c ?con))
                    (over all (capacity_follow ?n1 ?n2))
                    (at start(capacity_c ?h ?n1)))
    :effect (and (at end (not (carry ?h ?c)))
                 (at end (not (need ?p ?con)))
                 (at end (satisfied ?p ?con))
                 (at end (isat ?c ?l))
                 ;(at start (not (nobusy ?r)))
                 ;(at end (nobusy ?r))
                 (at end (not (capacity_c ?h ?n1)))
                 (at end (capacity_c ?h ?n2))
                 (at end (not (deliverable ?c))))
)

)