(define (domain coffee-robot-domain)
  (:predicates
  (move ?l ?l)
  (room ?r)
  (at-room ?l)
  (door ?l)
  (pickup ?c ?l)
  (coffee ?c)
  (move-coffee ?l)
  (deliver ?c ?l)
  (has-coffee ?c)
  (person ?p)
  ;;(free ?h)
  )

(:action move-room
    :parameters (?cr ?d)
    :precondition (and (room ?cr) (door ?d) (move ?cr ?d) (at-room ?cr) )
    :effect (and (at-room ?d)
    (not (at-room ?cr)) ))


(:action open-door
    :parameters (?d ?tr )
    :precondition (and (room ?tr) (door ?d) (move ?d ?tr) (at-room ?d))
    :effect (and (at-room ?tr)
    (not (at-room ?d))))

(:action pickup-coffee
    :parameters (?cfe ?cr)
    :precondition (and (room ?cr) (coffee ?cfe) (at-room ?cr) )
    :effect (and (pickup ?cfe ?cr) (has-coffee ?cfe)) )

(:action move-room-with-coffee
    :parameters (?cfe ?cr ?tr)
    :precondition (and (room ?cr) (room ?tr) (coffee ?cfe) (move ?cr ?tr) (has-coffee ?cfe) (move-coffee ?cr))
    :effect (and (move-coffee ?tr) (has-coffee ?cfe)
    (not (move-coffee ?cr))  ))

(:action deliver
    :parameters (?cfe ?cr ?p)
    :precondition (and (room ?cr) (coffee ?cfe) (move-coffee ?cr) (person ?p) (has-coffee ?cfe) )
    :effect (and (deliver ?cfe ?cr)
     (not (has-coffee ?cfe))) )



)