(define (domain CIIRC-Testbed-TASE)
	
	(:requirements :action-costs :typing :negative-preconditions :disjunctive-preconditions :equality)
		
	(:types PersonnelClass Person EquipmentClass Equipment MaterialClass MaterialDefinition MaterialLot)
	
	(:constants
		PC_MaintenanceEngineer - PersonnelClass
		EC_Shuttle - EquipmentClass
		EC_Robot - EquipmentClass
		EC_BaseplateCarrier - EquipmentClass
		EC_PositioningUnit - EquipmentClass
		EC_TransportationNode - EquipmentClass
		MC_Body - MaterialClass
		MC_Truck - MaterialClass
		MC_Pickable - MaterialClass
		MC_Baseplate - MaterialClass
		MC_TruckComponent - MaterialClass
		MC_Chassis - MaterialClass
		MC_Cabin - MaterialClass
		MD_StakeBed-White-White-White - MaterialDefinition
		MD_Cabin-Silver - MaterialDefinition
		MD_StakeBed-Black-Blue-White - MaterialDefinition
		MD_Body-Dumper-Yellow - MaterialDefinition
		MD_Dumper-White-Transparent-Yellow - MaterialDefinition
		MD_Tank-Black-White-Black - MaterialDefinition
		MD_Body-OpenTop-Blue - MaterialDefinition
		MD_TruckBaseplate - MaterialDefinition
		MD_Chassis-Black - MaterialDefinition
		MD_Cabin-Yellow - MaterialDefinition
		MD_Body-Tank-Black - MaterialDefinition
		MD_Cabin-Blue - MaterialDefinition
		MD_OpenTop-Black-Yellow-Blue - MaterialDefinition
		MD_Dumper-White-Silver-Silver - MaterialDefinition
		MD_Body-Dumper-Silver - MaterialDefinition
		MD_Chassis-White - MaterialDefinition
		MD_Cabin-Transparent - MaterialDefinition
		MD_Body-StakeBed-White - MaterialDefinition
		MD_Tank-Black-Blue-Silver - MaterialDefinition
		MD_Cabin-White - MaterialDefinition
		MD_Body-Tank-Silver - MaterialDefinition
		EC_Table - EquipmentClass
	)
	
	(:predicates
		(PersonClassed ?P - Person ?C - PersonnelClass)
		(EquipmentClassed ?E - Equipment ?C - EquipmentClass)
		(MaterialClassed ?D - MaterialDefinition ?C - MaterialClass)
		(MaterialDefined ?L - MaterialLot ?D - MaterialDefinition)
		(MaterialLotClassed ?L - MaterialLot ?C - MaterialClass)
		(RobotOccupied ?E - Equipment)
		(TransportationNodeOccupied ?E - Equipment)
		(PositioningUnitLocked ?E - Equipment)
		(RobotEnabled ?E - Equipment)
		(TransportationNodeConnection ?F ?T - Equipment)
		(EquipmentLocation ?E ?R - Equipment)
		(ReachesTo ?R ?E - Equipment)
		(MaterialLocation ?M - MaterialLot ?E - Equipment)
		(MaterialRaw ?M - MaterialLot)
		(DefinitionMountable ?M ?B - MaterialDefinition)
		(ClassMountable ?M ?B - MaterialClass)
		(Mounted ?M ?B - MaterialLot)
		(MaterialLotAssembly ?W ?P - MaterialLot)
		(MaterialDefinitionAssembly ?W ?P - MaterialDefinition)
	)
	
	(:functions
		(total-cost)
		(shuttle-time ?FROM ?TO - Equipment)
	)
	
	(:action LockPositioningUnit
		:parameters (?E - Equipment)
		:precondition	
			(and
				(EquipmentClassed ?E EC_PositioningUnit)
				(not (PositioningUnitLocked ?E))
			)
		:effect	
			(and
				(increase (total-cost) 1)
				(PositioningUnitLocked ?E)
			)
	)
	
	(:action UnlockPositioningUnit
		:parameters (?E - Equipment)
		:precondition	
			(and
				(EquipmentClassed ?E EC_PositioningUnit)
				(PositioningUnitLocked ?E)
			)
		:effect	
			(and
				(increase (total-cost) 1)
				(not (PositioningUnitLocked ?E))
			)
	)
	
	(:action MoveShuttle
		:parameters (?SHUTTLE ?FROM ?TO - Equipment)
		:precondition	
			(and
				(EquipmentClassed ?SHUTTLE EC_Shuttle)
				(or
					(EquipmentClassed ?FROM EC_PositioningUnit)
					(EquipmentClassed ?FROM EC_TransportationNode)
				)
				(imply (EquipmentClassed ?FROM EC_PositioningUnit) 
					(not (PositioningUnitLocked ?FROM))
				)
				(imply (EquipmentClassed ?FROM EC_TransportationNode) (TransportationNodeOccupied ?FROM)
				)
				(or
					(EquipmentClassed ?TO EC_PositioningUnit)
					(EquipmentClassed ?TO EC_TransportationNode)
				)
				(imply (EquipmentClassed ?TO EC_PositioningUnit) 
					(not (PositioningUnitLocked ?TO))
				)
				(imply (EquipmentClassed ?TO EC_TransportationNode) 
					(not (TransportationNodeOccupied ?TO))
				)
				(TransportationNodeConnection ?FROM ?TO)
				(EquipmentLocation ?SHUTTLE ?FROM)
				(not (EquipmentLocation ?SHUTTLE ?TO))
			)
		:effect	
			(and
				(not (TransportationNodeOccupied ?FROM))
				(TransportationNodeOccupied ?TO)
				(increase (total-cost) (shuttle-time ?FROM ?TO))
				(not (EquipmentLocation ?SHUTTLE ?FROM))
				(EquipmentLocation ?SHUTTLE ?TO)
			)
	)
	
	(:action Pick
		:parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment)
		:precondition	
			(and
				(EquipmentClassed ?ROBOT EC_Robot)
				(not (RobotOccupied ?ROBOT))
				(RobotEnabled ?ROBOT)
				(EquipmentClassed ?CARRIER EC_BaseplateCarrier)
				(MaterialLotClassed ?PICKABLE MC_Pickable)
				(MaterialLotClassed ?BASEPLATE MC_Baseplate)
				(MaterialRaw ?PICKABLE)
				(MaterialLocation ?BASEPLATE ?CARRIER)
				(Mounted ?PICKABLE ?BASEPLATE)
				(not (MaterialLocation ?PICKABLE ?ROBOT))
				(imply (EquipmentClassed ?CARRIER EC_Table) 
					(and
						(ReachesTo ?ROBOT ?CARRIER)
						(= ?CARRIER ?SUBCARRIER)
					)
				)
				(imply (EquipmentClassed ?CARRIER EC_Shuttle) 
					(and
						(EquipmentClassed ?SUBCARRIER EC_PositioningUnit)
						(EquipmentLocation ?CARRIER ?SUBCARRIER)
						(ReachesTo ?ROBOT ?SUBCARRIER)
						(PositioningUnitLocked ?SUBCARRIER)
					)
				)
			)
		:effect	
			(and
				(RobotOccupied ?ROBOT)
				(increase (total-cost) 5)
				(not (Mounted ?PICKABLE ?BASEPLATE))
				(MaterialLocation ?PICKABLE ?ROBOT)
			)
	)
	
	(:action Place
		:parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment)
		:precondition	
			(and
				(EquipmentClassed ?ROBOT EC_Robot)
				(RobotOccupied ?ROBOT)
				(RobotEnabled ?ROBOT)
				(EquipmentClassed ?CARRIER EC_BaseplateCarrier)
				(MaterialLotClassed ?PICKABLE MC_Pickable)
				(MaterialLotClassed ?BASEPLATE MC_Baseplate)
				(MaterialRaw ?PICKABLE)
				(MaterialLocation ?BASEPLATE ?CARRIER)
				(not (Mounted ?PICKABLE ?BASEPLATE))
				(MaterialLocation ?PICKABLE ?ROBOT)
				(imply (EquipmentClassed ?CARRIER EC_Table) 
					(and
						(ReachesTo ?ROBOT ?CARRIER)
						(= ?CARRIER ?SUBCARRIER)
					)
				)
				(imply (EquipmentClassed ?CARRIER EC_Shuttle) 
					(and
						(EquipmentClassed ?SUBCARRIER EC_PositioningUnit)
						(EquipmentLocation ?CARRIER ?SUBCARRIER)
						(ReachesTo ?ROBOT ?SUBCARRIER)
						(PositioningUnitLocked ?SUBCARRIER)
					)
				)
			)
		:effect	
			(and
				(not (RobotOccupied ?ROBOT))
				(increase (total-cost) 5)
				(Mounted ?PICKABLE ?BASEPLATE)
				(not (MaterialLocation ?PICKABLE ?ROBOT))
			)
	)
	
	(:action Assemble
		:parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASE ?ASSEMBLY ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment)
		:precondition	
			(and
				(EquipmentClassed ?ROBOT EC_Robot)
				(RobotOccupied ?ROBOT)
				(RobotEnabled ?ROBOT)
				(EquipmentClassed ?CARRIER EC_BaseplateCarrier)
				(MaterialLotClassed ?PICKABLE MC_Pickable)
				(MaterialLotClassed ?BASE MC_TruckComponent)
				(MaterialLotClassed ?ASSEMBLY MC_Truck)
				(MaterialLotClassed ?BASEPLATE MC_Baseplate)
				(MaterialRaw ?PICKABLE)
				(MaterialLocation ?BASEPLATE ?CARRIER)
				(Mounted ?BASE ?BASEPLATE)
				(or
					(exists ( ?AMD - MaterialDefinition ?PMD - MaterialDefinition ?BMD - MaterialDefinition)
						(and
							(MaterialDefined ?ASSEMBLY ?AMD)
							(MaterialDefined ?PICKABLE ?PMD)
							(MaterialDefined ?BASE ?BMD)
							(MaterialDefinitionAssembly ?AMD ?PMD)
							(MaterialDefinitionAssembly ?AMD ?BMD)
							(DefinitionMountable ?PMD ?BMD)
						)
					)
					(exists ( ?PMC - MaterialClass ?BMC - MaterialClass ?AMD - MaterialDefinition ?PMD - MaterialDefinition ?BMD - MaterialDefinition)
						(and
							(MaterialDefined ?ASSEMBLY ?AMD)
							(MaterialDefined ?PICKABLE ?PMD)
							(MaterialDefined ?BASE ?BMD)
							(MaterialClassed ?BMD ?BMC)
							(MaterialClassed ?PMD ?PMC)
							(MaterialDefinitionAssembly ?AMD ?PMD)
							(MaterialDefinitionAssembly ?AMD ?BMD)
							(ClassMountable ?PMC ?BMC)
						)
					)
				)
				(not (exists (?A - MaterialLot)
					(and
						(not (= ?A ?ASSEMBLY)
						)
						(MaterialLotAssembly ?A ?BASE)
					)
				)
				)
				(not (exists (?BP - MaterialLot)
					(and
						(not (= ?BP ?BASEPLATE)
						)
						(Mounted ?ASSEMBLY ?BP)
					)
				)
				)
				(not (Mounted ?PICKABLE ?BASEPLATE))
				(MaterialLocation ?PICKABLE ?ROBOT)
				(imply (EquipmentClassed ?CARRIER EC_Table) 
					(and
						(ReachesTo ?ROBOT ?CARRIER)
						(= ?CARRIER ?SUBCARRIER)
					)
				)
				(imply (EquipmentClassed ?CARRIER EC_Shuttle) 
					(and
						(EquipmentClassed ?SUBCARRIER EC_PositioningUnit)
						(EquipmentLocation ?CARRIER ?SUBCARRIER)
						(ReachesTo ?ROBOT ?SUBCARRIER)
						(PositioningUnitLocked ?SUBCARRIER)
					)
				)
			)
		:effect	
			(and
				(not (RobotOccupied ?ROBOT))
				(increase (total-cost) 5)
				(Mounted ?PICKABLE ?BASE)
				(not (MaterialRaw ?PICKABLE))
				(not (MaterialRaw ?BASE))
				(MaterialLotAssembly ?ASSEMBLY ?PICKABLE)
				(MaterialLotAssembly ?ASSEMBLY ?BASE)
				(Mounted ?ASSEMBLY ?BASEPLATE)
				(MaterialLocation ?ASSEMBLY ?CARRIER)
				(MaterialLocation ?PICKABLE ?CARRIER)
				(not (MaterialLocation ?PICKABLE ?ROBOT))
			)
	)
	
	(:action RepairRobot
		:parameters (?ENGINEER - Person ?ROBOT - Equipment)
		:precondition	
			(and
				(PersonClassed ?ENGINEER PC_MaintenanceEngineer)
				(EquipmentClassed ?ROBOT EC_Robot)
				(not (RobotEnabled ?ROBOT))
			)
		:effect	
			(and
				(RobotEnabled ?ROBOT)
				(increase (total-cost) 99)
			)
	)
)