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(define (domain 领域名称)
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   (:requirements 需要的特性)
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   (:types 类型定义)
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   (:constants 常量定义)      ; 可选
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   (:predicates 谓词定义)
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   (:functions 函数定义)       ; 如果用到数值
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   (:action 动作定义)          ; 可以有多个
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)

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(:requirements :strips)           ; 基本功能（必须）
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(:requirements :typing)            ; 使用类型系统
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(:requirements :adl)               ; 使用高级条件（如forall, exists）
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(:requirements :fluents)            ; 使用数值变量
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(:requirements :durative-actions)   ; 使用持续动作
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(:requirements :equality)           ; 使用等于/不等于判断
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; 可以组合使用：
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(:requirements :strips :typing :durative-actions)

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(:types
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    robot      ; 简单类型
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    location    ; 简单类型
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    ; 继承关系
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    vehicle          ; 父类型
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    car truck - vehicle  ; car和truck是vehicle的子类型
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    ; 多级继承
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    animal           ; 动物
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    dog cat - animal  ; 狗和猫是动物
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    puppy - dog       ; 小狗是狗的子类型
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)

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(:constants
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    robot1 robot2 - robot      ; 两个机器人常量
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    charging_station - location  ; 充电站位置
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)

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(:predicates
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    ; 格式: (谓词名 参数1 - 类型1 参数2 - 类型2 ...)
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    ; 位置相关
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    (at ?obj - object ?loc - location)      ; 物体在某个位置
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    (connected ?from - location ?to - location)  ; 两个位置相连
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    ; 状态相关
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    (power-on ?device - electronic)          ; 设备开机
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    (battery-low ?robot - robot)             ; 机器人电量低
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    ; 关系相关
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    (carries ?robot - robot ?box - container)  ; 机器人携带箱子
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    (belongs-to ?item - object ?owner - person) ; 物品属于某人
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)

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(:functions
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    (battery-level ?r - robot)                ; 机器人电量（数值）
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    (distance ?loc1 ?loc2 - location)          ; 两个位置的距离
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    (total-cost)                               ; 总成本（用于优化）
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)

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(:action 动作名称
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    :parameters (?参数1 - 类型1 ?参数2 - 类型2 ...)  ; 动作涉及的对象
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    :precondition (and  ...)                        ; 前提条件
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    :effect (and ...)                                ; 执行效果
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)

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(define (problem 问题名称)
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    (:domain 领域名称)                    ; 指定使用哪个domain
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    (:objects
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        ; 定义这个具体问题中的对象
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        robot1 robot2 - robot
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        room1 room2 room3 - room
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        box1 box2 - container
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    )
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    (:init
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        ; 定义初始状态
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        (at robot1 room1)
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        (at robot2 room3)
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        (connected room1 room2)
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        (connected room2 room3)
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        (battery-full robot1)
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        (battery-low robot2)
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        (charging-point-at room1)
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        ; 数值初始值（如果有functions）
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        (= (battery-level robot1) 100)
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        (= (battery-level robot2) 15)
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        (= (total-cost) 0)
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    )
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    (:goal
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        ; 定义要达成的目标
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        (and
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            (at robot1 room3)
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            (at robot2 room1)
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            (not (battery-low robot2))
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        )
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    )
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    (:metric minimize (total-cost))  ; 可选：优化目标（最小化总成本）
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)

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(define (domain warehouse)
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    (:requirements :strips :typing :durative-actions :fluents)
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    (:types
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        robot location package - object
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    )
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    (:predicates
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        (at ?obj - object ?loc - location)
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        (connected ?from ?to - location)
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        (carrying ?r - robot ?p - package)
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        (empty ?r - robot)
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    )
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    (:functions
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        (battery ?r - robot)
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        (distance ?from ?to - location)
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    )
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    (:durative-action move
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        :parameters (?r - robot ?from ?to - location)
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        :duration (= ?duration (distance ?from ?to))
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        :condition (and
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            (at start (at ?r ?from))
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            (at start (connected ?from ?to))
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            (over all (> (battery ?r) 0))
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        )
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        :effect (and
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            (at start (not (at ?r ?from)))
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            (at end (at ?r ?to))
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            (at end (decrease (battery ?r) (distance ?from ?to)))
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        )
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    )
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    (:action pick
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        :parameters (?r - robot ?p - package ?loc - location)
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        :precondition (and
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            (at ?r ?loc)
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            (at ?p ?loc)
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            (empty ?r)
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        )
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        :effect (and
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            (not (at ?p ?loc))
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            (carrying ?r ?p)
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            (not (empty ?r))
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        )
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    )
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)

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(define (problem warehouse-1)
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    (:domain warehouse)
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    (:objects
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        r1 r2 - robot
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        dock shelf1 shelf2 - location
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        pkg1 pkg2 - package
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    )
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    (:init
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        (at r1 dock)
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        (at r2 dock)
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        (at pkg1 shelf1)
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        (at pkg2 shelf2)
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        (connected dock shelf1)
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        (connected dock shelf2)
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        (connected shelf1 dock)
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        (connected shelf2 dock)
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        (empty r1)
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        (empty r2)
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        (= (battery r1) 100)
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        (= (battery r2) 100)
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        (= (distance dock shelf1) 10)
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        (= (distance dock shelf2) 15)
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        (= (distance shelf1 dock) 10)
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        (= (distance shelf2 dock) 15)
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    )
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    (:goal (and
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        (at pkg1 dock)
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        (at pkg2 dock)
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    ))
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)