sea-bass

(define (stream hsr_stream)
  
  ; DIST: Distance between two locations
  (:function (Dist ?l1 ?l2)
             (and (Location ?l1) (Location ?l2))
  )

  ; PICKPLACECOST: Cost to perform pick and place at a location
  (:function (PickPlaceCost ?l ?o)
             (and (Location ?l) (Obj ?o))

sea-bass

(define (domain hsr_tamp)
  (:requirements :strips :equality)
  (:predicates 
               ; Static Predicates
               (Robot ?r)           ; Represents the robot
               (Obj ?o)             ; Object representation
               (Location ?l)        ; Location representation
               (Room ?m)            ; Room representation
               (Type ?t)            ; Type of location or object
               (GraspAng ?q)        ; Grasp angle