{
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          "@id": "tp-ont:Surface"
        }
      ]
    },
    {
      "@id": "tp-ont:RoverDomain_can_traverse_hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg2"
      }
    },
    {
      "@id": "tp-ont:DriverlogDomain_in_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Truck"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_visible_from_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Objective"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_calibration_target_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Camera"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:BlocksDomain_on_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Block"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:SatelliteDomain_calibration_target_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Direction"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Object"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArgument"
      }
    },
    {
      "@id": "tp-ont:LogisticsDomain_at_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Physobj"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Object",
      "@type": "owl:Class",
      "owl:disjointWith": {
        "@id": "tp-ont:Relation"
      },
      "owl:equivalentClass": {
        "@id": "planning-ontology:ProblemObject"
      },
      "rdfs:subClassOf": {
        "@id": "tp-ont:NominalConcept"
      }
    },
    {
      "@id": "tp-ont:DepotDomain_clear_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Surface"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:MiconicDomain_above_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Floor"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:DriverlogDomain_driving_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Driver"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Duration",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "owl:Thing"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_store_hasArg0",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:MiconicDomain_not-served_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Passenger"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_communicated_image_data_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Mode"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:MiconicDomain_lift-at_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Floor"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_equipped_for_rock_analysis_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Rover"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:hasState",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Plan"
      },
      "rdfs:range": {
        "@id": "tp-ont:State"
      }
    },
    {
      "@id": "tp-ont:hasPredicate",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "planning-ontology:PlanningDomain"
      },
      "rdfs:range": {
        "@id": "tp-ont:Predicate"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_store_hasArg2",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_at_lander_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_equipped_hasArg0",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_visible_from_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:SatelliteDomain_calibration_target_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Instrument"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_channel_hasArg0",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "planning-ontology:hasInitialState",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_can_traverse_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:isNegationOf",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Predicate"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_communicated_image_data_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Objective"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:SatelliteDomain_have_hasArg1",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_at_soil_sample_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Depot",
      "@type": "owl:Class",
      "rdfs:subClassOf": [
        {
          "@id": "tp-ont:Place"
        },
        {
          "@id": "tp-ont:Object"
        }
      ]
    },
    {
      "@id": "tp-ont:Location",
      "@type": "owl:Class",
      "rdfs:subClassOf": [
        {
          "@id": "tp-ont:Place"
        },
        {
          "@id": "tp-ont:Object"
        }
      ]
    },
    {
      "@id": "tp-ont:RoverDomain_calibration_hasArg2",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "planning-ontology:ProblemObject",
      "@type": "owl:Class"
    },
    {
      "@id": "tp-ont:LogisticsDomain_in_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Package"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "planning-ontology:PlanningDomain",
      "@type": "owl:Class",
      "owl:disjointWith": [
        {
          "@id": "tp-ont:Object"
        },
        {
          "@id": "tp-ont:Relation"
        },
        {
          "@id": "planning-ontology:PlanningProblem"
        }
      ]
    },
    {
      "@id": "tp-ont:RoverDomain_can_traverse_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Rover"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "planning-ontology:hasPrecondition",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_supports_hasArg2",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_channel_hasArg1",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_have_hasArg0",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "https://w3id.org/tp-ont/ontology",
      "@type": "owl:Ontology",
      "rdfs:comment": "TP-ONT ontology for task planning in OWL. Represents PDDL description of planning domains, problems, and plans"
    },
    {
      "@id": "tp-ont:DepotDomain_on_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Surface"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:LogisticsDomain_in-city_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:City"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:SatelliteDomain_on_board_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Instrument"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_calibration_target_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Objective"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Object"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArgument"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_communicated_hasArg0",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "planning-ontology:hasGoalState",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:SatelliteDomain_supports_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Instrument"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:City",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "tp-ont:Object"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_visible_hasArg2",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "planning-ontology:ProblemPredicate",
      "@type": "owl:Class"
    },
    {
      "@id": "tp-ont:initialStateOf",
      "@type": "owl:ObjectProperty",
      "owl:inverseOf": {
        "@id": "planning-ontology:hasInitialState"
      },
      "rdfs:domain": {
        "@id": "planning-ontology:InitialState"
      },
      "rdfs:range": {
        "@id": "planning-ontology:PlanningProblem"
      }
    },
    {
      "@id": "tp-ont:TemporalConstraint",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "owl:Thing"
      }
    },
    {
      "@id": "tp-ont:MiconicDomain_origin_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Floor"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:Proposition",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "owl:Thing"
      }
    },
    {
      "@id": "tp-ont:Waypoint",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "tp-ont:Object"
      }
    },
    {
      "@id": "planning-ontology:ActionParameter",
      "@type": "owl:Class"
    },
    {
      "@id": "tp-ont:RoverDomain_communicated_soil_data_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Parameter",
      "@type": "owl:Class",
      "owl:equivalentClass": {
        "@id": "planning-ontology:ActionParameter"
      },
      "rdfs:subClassOf": {
        "@id": "tp-ont:NominalConcept"
      }
    },
    {
      "@id": "planning-ontology:hasPredicate",
      "@type": "owl:ObjectProperty"
    },
    {
      "@id": "tp-ont:RoverDomain_have_rock_analysis_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Rover"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Direction",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "tp-ont:Object"
      }
    },
    {
      "@id": "tp-ont:BlocksDomain_clear_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Block"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Camera",
      "@type": "owl:Class",
      "rdfs:subClassOf": {
        "@id": "tp-ont:Object"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_at_rock_sample_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:range": {
        "@id": "tp-ont:Waypoint"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Crate",
      "@type": "owl:Class",
      "rdfs:subClassOf": [
        {
          "@id": "tp-ont:Surface"
        },
        {
          "@id": "tp-ont:Object"
        }
      ]
    }
  ]
}