(define (domain logisticsPlus)
  (:requirements :typing) 
  (:types         location locatable - object
        truck plane packet - locatable
  
  )
  (:predicates 
		(at ?obj - locatable ?loc - location)
		(in ?p - packet ?v - locatable)
		(road ?x ?y - depot)
		(flightpath ?x ?y - location)
		(empty ?v - locatable)
)


(:action LOAD-TRUCK
  :parameters
   (?p - packet
    ?v - truck
    ?l - location)
  :precondition
   (and (at ?v ?l) (at ?p ?l))
  :effect
   (and (not (at ?p ?l)) (in ?p ?v)))

(:action UNLOAD-TRUCK
  :parameters
   (?p - packet
    ?v - truck
    ?l - location)
  :precondition
   (and (at ?v ?l) (in ?p ?v))
  :effect
   (and 
   	(not (in ?p ?v)) 
   	(at ?p ?l)
   	(empty ?v)
   )
)
   
(:action LOAD-PLANE
  :parameters
   (?p - packet
    ?v - plane
    ?l - location)
  :precondition
   (and (at ?v ?l) (at ?p ?l))
  :effect
   (and (not (at ?p ?l)) (in ?p ?v)))

(:action UNLOAD-PLANE
  :parameters
   (?p - packet
    ?v - plane
    ?l - location)
  :precondition
   (and (at ?v ?l) (in ?p ?v))
  :effect
   (and (not (in ?p ?v)) (at ?p ?l) (empty ?v)))

(:action DRIVE
  :parameters
   (?t - truck
    ?l1 - location
    ?l2 - location)
  :precondition
   (and (at ?t ?l1) (road ?l1 ?l2))
  :effect
   (and (not (at ?t ?l1)) (at ?t ?l2)))

(:action FLY
  :parameters
   (?p - plane
    ?l1 - location
    ?l2 - location)
  :precondition
   (and (at ?p ?l1) (flightpath ?l1 ?l2))
  :effect
   (and (not (at ?p ?l1)) (at ?p ?l2)))

 
)