actions:
    crossTogether(X,Y) requires animal(X), animal(Y), X < Y.
    cross(X) requires animal(X).

fluents:
    here(X) requires animal(X).
    boat_here.

initially:
    here(X).
    boat_here.

always:
    nonexecutable crossTogether(X,Y) if -here(X), here(Y).
    nonexecutable crossTogether(X,Y) if here(X), -here(Y).

    executable crossTogether(X,Y) if -here(X), -here(Y), -boat_here.
    executable crossTogether(X,Y) if here(X), here(Y), boat_here.

    executable cross(X) if here(X), boat_here.
    executable cross(X) if -here(X), -boat_here.

    caused -boat_here after crossTogether(_,_), boat_here.
    caused boat_here after crossTogether(_,_), -boat_here.

    caused -boat_here after cross(_), boat_here.
    caused boat_here after cross(_), -boat_here.

    caused here(X) after crossTogether(X,Y), -here(X).
    caused here(Y) after crossTogether(X,Y), -here(Y).
    caused -here(X) after crossTogether(X,Y), here(X).
    caused -here(Y) after crossTogether(X,Y), here(Y).

    caused here(X) after cross(X), -here(X).
    caused -here(X) after cross(X), here(X).

    forbidden here(wolf1), here(fox), -boat_here.
    forbidden here(wolf2), here(fox), -boat_here.
    forbidden here(wolf1), here(chicken), -boat_here.
    forbidden here(wolf2), here(chicken), -boat_here.
    forbidden here(fox), here(chicken), -boat_here.
    forbidden here(chicken), here(worm), -boat_here.

    forbidden -here(wolf1), -here(fox), boat_here.
    forbidden -here(wolf2), -here(fox), boat_here.
    forbidden -here(wolf1), -here(chicken), boat_here.
    forbidden -here(wolf2), -here(chicken), boat_here.
    forbidden -here(fox), -here(chicken), boat_here.
    forbidden -here(chicken), -here(worm), boat_here.

    inertial here(X).
    inertial -here(X).

    noConcurrency.

goal: -here(wolf1), -here(wolf2), -here(fox), -here(chicken), -here(worm)?