new getoffcar action

supermarket-domain.pddl

@@ -11,9 +11,10 @@
 
 (:predicates
   (at ?o - object ?l - location)
-  ;(agentfree ?a - agent)
   (on ?i - item ?a - agent)
+  (agentoncar ?a ?c )
   (hasagent ?c - car)
+  (hasnotagent ?c - car)
   (haspath ?from - location ?to - location)
 )
 
@@ -64,18 +65,37 @@
 :parameters (?a - agent ?c - car ?l - location)
 :duration(= ?duration 5)
 :condition(and
-(at start(not(hasagent ?c))  )
-(over all(at ?a ?l))
+;at start has no driver or over all?
+(at start((hasnotagent ?c))  )
+(at start(at ?a ?l))
 (over all(at ?c ?l))
 
 )
 :effect(and
-(at start(not(at ?a ?from)) )
-(at end(at ?a ?to))
+(at start(not(at ?a ?l)) )
+(at end(agentoncar ?a ?c))
+(at end(hasagent ?c))
+(at end(not(hasnotagent ?c)))
+)
+
 )
 
+(:durative-action getoffcar
+:parameters (?a - agent ?c - car ?l - location)
+:duration(= ?duration 5)
+:condition(and
+(at start(agentoncar ?a ?c))
+(over all(at ?c ?l))
+
+)
+:effect(and
+(at start(not(hasagent? c)) )
+(at start(hasnotagent ?c))
+(at start(not(agentoncar ?a ?c)))
+(at end(at ?a ?l))
 )
 
+)