robossembler.org/docs/pddl/assembly_problem_hackaby.pddl

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(define (problem p1) (:domain assembly_domain_hackaby)
(:objects
arm1 arm2 - arm
gearbox - part
part-bin workspace - workspace
grip - tool )
(:init
(arm-canreach arm1 part-bin)
(arm-canreach arm1 workspace)
(arm-canreach arm2 part-bin)
(arm-canreach arm2 workspace)
(arm-at arm1 part-bin)
(arm-at arm2 workspace)
(arm-capabilities arm1 grip)
(arm-capabilities arm1 detect)
(arm-capabilities arm2 grip)
(arm-capabilities arm2 detect)
(arm-active arm1 grip)
(arm-active arm2 grip)
(arm-holding arm1 no-part)
(arm-holding arm2 no-part)
(part-at gearbox part-bin))
(:goal
(and (part-state gearbox glue)
(part-state gearbox weld)
(part-at gearbox assembly-line)))
)