diff --git a/robossembler/pddl/domain.pddl b/robossembler/pddl/domain.pddl
index 4e9fb18..e954010 100644
--- a/robossembler/pddl/domain.pddl
+++ b/robossembler/pddl/domain.pddl
@@ -1,39 +1,72 @@
+;; Modified domain taken from
+;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014 
 (define (domain robossembler)
-(:requirements :strips :typing :adl :fluents :durative-actions :typing)
+    (:requirements :strips :typing :adl :fluents :durative-actions)
+    (:types
+        printer workspace - zone ; workspace for assembly operations and storage
+        arm ; robotic manipulator arm
+        ; grip weld scan - tool ; manipulator tool for grip, weld, solder and other operations
+        part ; solid part, that cannot be disassembled
+        assembly ; assembly - can be dissassembled
+    )
 
-;; Types ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-(:types
-    robot
-    zone
-    gap
-    part
-    gripper
-    frame
-    printer
-    material
-);; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;
+    (:predicates
+        (arm-available ?a - arm)
+        (part-at ?p - part ?z - zone)
+        (printer-ready ?p - printer)
+        (part-of ?part - part ?whole - assembly)
+        (assembly-order ?prev ?next - assembly)
+        (assembled ?whole - assembly ?z - zone)
+    )
 
-;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
-(:predicates
-(enviroment_setup ?r - robot ?g - gripper ?p - part)
-);; end Predicates ;;;;;;;;;;;;;;;;;;;;
+    (:functions)
 
-;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
-(:functions
+    (:durative-action print
+        :parameters (?p - part ?pr - printer)
+        :duration (= ?duration 10)
+        :condition (and
+            (at start (printer-ready ?pr))  
+        )
+        :effect (and
+            (at start (not (printer-ready ?pr)))
+            (at end (part-at ?p ?pr))
+        )
+    )
 
-);; end Functions ;;;;;;;;;;;;;;;;;;;;
+    (:durative-action remove
+        :parameters (?p - part ?pr - printer ?z - zone ?a - arm)
+        :duration (= ?duration 1)
+        :condition (and 
+            (at start (and
+                (part-at ?p ?pr)
+                (arm-available ?a)
+            ))
+        )
+        :effect (and 
+            (at start (not (arm-available ?a)))
+            (at end (and 
+                (part-at ?p ?z)
+                (arm-available ?a)
+                (printer-ready ?pr)
+            ))
+        )
+    )
 
-;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-(:durative-action assemble-1
-    :parameters (?r - robot ?g - gripper ?p - part)
-    :duration ( = ?duration 1)
-    :effect (and(at start (enviroment_setup ?r ?g ?p)))
-)
-
-;(:durative-action move_gripper
-;    :parameters (?r - robot ?g - gap)
-;    :duration ( = ?duration 1)
-;    :effect (at end(gripper_move ?r ?g))
-;)
-
-);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
+    (:durative-action assemble
+        :parameters (?p - part ?prev ?next - assembly ?w - workspace ?arm - arm)
+        :duration (= ?duration 5)
+        :condition (and
+            (at start (assembled ?prev ?w))
+            (at start (part-at ?p ?w))
+            (at start (part-of ?p ?next))
+            (at start (arm-available ?arm))
+            (at start (assembly-order ?prev ?next))
+        )
+        :effect (and
+            (at start (not (arm-available ?arm)))
+            (at end (not (part-at ?p ?w)))
+            (at end (arm-available ?arm))
+            (at end (assembled ?next ?w))
+        )
+    )
+)
\ No newline at end of file
diff --git a/robossembler/pddl/problem.pddl b/robossembler/pddl/problem.pddl
new file mode 100644
index 0000000..38bdc5e
--- /dev/null
+++ b/robossembler/pddl/problem.pddl
@@ -0,0 +1,29 @@
+(define (problem p1)
+(:domain robossembler)
+(:objects
+	; information from Scene
+	rasmt - arm
+	printer1 printer2 - printer
+	workspace1 - workspace
+	; information from CAD
+	part1 part2 - part
+	subasm0 subasm1 subasm2 - assembly
+)
+(:init
+	; information from Scene
+	(printer-ready printer1)
+	(printer-ready printer2)
+	(arm-available rasmt)
+	; information from CAD
+	(assembled subasm0 workspace1)
+	(part-of part1 subasm1)
+	(part-of part2 subasm2)
+	(assembly-order subasm0 subasm1)
+	(assembly-order subasm1 subasm2)
+)
+(:goal (and
+	; information from CAD
+	(assembled subasm2 workspace1)
+	)
+)
+)