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      "rdfs:label": {
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        "@value": "have_hasArg2"
      }
    },
    {
      "@id": "tp-ont:City",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "City"
      },
      "rdfs:subClassOf": {
        "@id": "tp-ont:Object"
      }
    },
    {
      "@id": "tp-ont:MiconicDomain_served_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
        "@language": "en",
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      },
      "rdfs:range": {
        "@id": "tp-ont:Passenger"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Truck",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "Truck"
      },
      "rdfs:subClassOf": [
        {
          "@id": "tp-ont:Vehicle"
        },
        {
          "@id": "tp-ont:Locatable"
        },
        {
          "@id": "tp-ont:Object"
        }
      ]
    },
    {
      "@id": "tp-ont:Plan",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "Plan"
      },
      "rdfs:subClassOf": {
        "@id": "owl:Thing"
      }
    },
    {
      "@id": "planning-ontology:ActionPrecondition",
      "@type": "owl:Class"
    },
    {
      "@id": "tp-ont:SatelliteDomain_power_avail_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
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      },
      "rdfs:label": {
        "@language": "en",
        "@value": "power_avail_hasArg0"
      },
      "rdfs:range": {
        "@id": "tp-ont:Satellite"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:SatelliteDomain_power_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "power_hasArg0"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_can_hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "can_hasArg2"
      }
    },
    {
      "@id": "tp-ont:hasPrecondition",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "hasPrecondition"
      }
    },
    {
      "@id": "tp-ont:Fluent",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "Fluent"
      },
      "rdfs:subClassOf": {
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      }
    },
    {
      "@id": "tp-ont:",
      "@type": "owl:Class"
    },
    {
      "@id": "tp-ont:MiconicDomain_destin_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
        "@language": "en",
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      },
      "rdfs:range": {
        "@id": "tp-ont:Floor"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:BlocksDomain_ontable_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
        "@language": "en",
        "@value": "ontable_hasArg0"
      },
      "rdfs:range": {
        "@id": "tp-ont:Block"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:LogisticsDomain_at_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Vehicle",
      "@type": "owl:Class",
      "rdfs:label": {
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        "@value": "Vehicle"
      },
      "rdfs:subClassOf": [
        {
          "@id": "tp-ont:Physobj"
        },
        {
          "@id": "tp-ont:Object"
        }
      ]
    },
    {
      "@id": "tp-ont:RoverDomain_can_traverse_hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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      }
    },
    {
      "@id": "tp-ont:Instrument",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "Instrument"
      },
      "rdfs:subClassOf": {
        "@id": "tp-ont:Object"
      }
    },
    {
      "@id": "tp-ont:hasNumericFluent",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Plan"
      },
      "rdfs:label": {
        "@language": "en",
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      },
      "rdfs:range": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_at_rock_sample_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_equipped_hasArg0",
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      "rdfs:label": {
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        "@value": "equipped_hasArg0"
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    },
    {
      "@id": "tp-ont:DepotDomain_lifting_hasArg1",
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      "rdfs:domain": {
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      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_full_hasArg0",
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      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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    },
    {
      "@id": "tp-ont:SatelliteDomain_power_hasArg1",
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        "@value": "power_hasArg1"
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    },
    {
      "@id": "tp-ont:RoverDomain_supports_hasArg2",
      "@type": "owl:ObjectProperty",
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        "@value": "supports_hasArg2"
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    },
    {
      "@id": "tp-ont:NominalConcept",
      "@type": "owl:Class"
    },
    {
      "@id": "tp-ont:Step",
      "@type": "owl:Class",
      "rdfs:label": {
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        "@value": "Step"
      },
      "rdfs:subClassOf": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_at_lander_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
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      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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      }
    },
    {
      "@id": "tp-ont:SatelliteDomain_calibration_hasArg0",
      "@type": "owl:ObjectProperty",
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        "@value": "calibration_hasArg0"
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    },
    {
      "@id": "tp-ont:Physobj",
      "@type": "owl:Class",
      "rdfs:label": {
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        "@value": "Physobj"
      },
      "rdfs:subClassOf": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_communicated_soil_data_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
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      },
      "rdfs:label": {
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      },
      "rdfs:subPropertyOf": {
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    },
    {
      "@id": "tp-ont:LogisticsDomain_in-city_hasArg1",
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      "rdfs:domain": {
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      },
      "rdfs:label": {
        "@language": "en",
        "@value": "in-city_hasArg1"
      },
      "rdfs:range": {
        "@id": "tp-ont:City"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:Place",
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      "rdfs:label": {
        "@language": "en",
        "@value": "Place"
      },
      "rdfs:subClassOf": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_have_soil_analysis_hasArg1",
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      "rdfs:domain": {
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      },
      "rdfs:label": {
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      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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    },
    {
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      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      },
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    },
    {
      "@id": "tp-ont:SatelliteDomain_on_hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "on_hasArg2"
      }
    },
    {
      "@id": "tp-ont:happensAfter",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Step"
      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      }
    },
    {
      "@id": "tp-ont:RoverDomain_can_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "can_hasArg0"
      }
    },
    {
      "@id": "planning-ontology:hasPrecondition",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "planning-ontology:hasPrecondition"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_at_hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "at_hasArg2"
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    },
    {
      "@id": "tp-ont:RoverDomain_empty_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
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      },
      "rdfs:label": {
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        "@value": "empty_hasArg0"
      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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      }
    },
    {
      "@id": "tp-ont:MiconicDomain_origin_hasArg1",
      "@type": "owl:ObjectProperty",
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      },
      "rdfs:label": {
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        "@value": "origin_hasArg1"
      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:RoverDomain_have_soil_analysis_hasArg0",
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      "rdfs:domain": {
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      },
      "rdfs:label": {
        "@language": "en",
        "@value": "have_soil_analysis_hasArg0"
      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "planning-ontology:hasGoalState",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
        "@language": "en",
        "@value": "planning-ontology:hasGoalState"
      }
    },
    {
      "@id": "tp-ont:DepotDomain_lifting_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
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      },
      "rdfs:label": {
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        "@value": "lifting_hasArg0"
      },
      "rdfs:range": {
        "@id": "tp-ont:Hoist"
      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "planning-ontology:hasParameter",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
        "@language": "en",
        "@value": "planning-ontology:hasParameter"
      }
    },
    {
      "@id": "tp-ont:DriverlogDomain_in_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
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      "rdfs:range": {
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      "rdfs:subPropertyOf": {
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    },
    {
      "@id": "tp-ont:RoverDomain_communicated_hasArg3",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "communicated_hasArg3"
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    },
    {
      "@id": "tp-ont:RoverDomain_store_of_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
        "@language": "en",
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      "rdfs:subPropertyOf": {
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    },
    {
      "@id": "tp-ont:RoverDomain_can_traverse_hasArg1",
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      },
      "rdfs:label": {
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        "@value": "can_traverse_hasArg1"
      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
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    },
    {
      "@id": "planning-ontology:hasEffect",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
        "@language": "en",
        "@value": "planning-ontology:hasEffect"
      }
    },
    {
      "@id": "tp-ont:hasNumericValue",
      "@type": "owl:DatatypeProperty",
      "rdfs:domain": {
        "@id": "tp-ont:NumericFluent"
      },
      "rdfs:label": {
        "@language": "en",
        "@value": "hasNumericValue"
      },
      "rdfs:range": {
        "@id": "xsd:float"
      }
    },
    {
      "@id": "tp-ont:BlocksDomain_on_hasArg1",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
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      },
      "rdfs:label": {
        "@language": "en",
        "@value": "on_hasArg1"
      },
      "rdfs:range": {
        "@id": "tp-ont:Block"
      },
      "rdfs:subPropertyOf": {
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      }
    },
    {
      "@id": "tp-ont:DepotDomain_on_hasArg1",
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      },
      "rdfs:label": {
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      },
      "rdfs:range": {
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      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:Crate",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "Crate"
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      "rdfs:subClassOf": [
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        },
        {
          "@id": "tp-ont:Surface"
        }
      ]
    },
    {
      "@id": "tp-ont:RoverDomain_at_lander_hasArg0",
      "@type": "owl:ObjectProperty",
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      },
      "rdfs:label": {
        "@language": "en",
        "@value": "at_lander_hasArg0"
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      "rdfs:range": {
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    },
    {
      "@id": "tp-ont:RoverDomain_visible_from_hasArg0",
      "@type": "owl:ObjectProperty",
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      },
      "rdfs:label": {
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        "@value": "visible_from_hasArg0"
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      "rdfs:range": {
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    },
    {
      "@id": "tp-ont:RoverDomain_have_hasArg2",
      "@type": "owl:ObjectProperty",
      "rdfs:label": {
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        "@value": "have_hasArg2"
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    },
    {
      "@id": "tp-ont:TemporalConstraint",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "TemporalConstraint"
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      "rdfs:subClassOf": {
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      }
    },
    {
      "@id": "tp-ont:MiconicDomain_above_hasArg1",
      "@type": "owl:ObjectProperty",
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      },
      "rdfs:label": {
        "@language": "en",
        "@value": "above_hasArg1"
      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg1"
      }
    },
    {
      "@id": "tp-ont:Predicate",
      "@type": "owl:Class",
      "owl:disjointWith": [
        {
          "@id": "planning-ontology:PlanningDomain"
        },
        {
          "@id": "planning-ontology:PlanningProblem"
        },
        {
          "@id": "tp-ont:Relation"
        },
        {
          "@id": "tp-ont:State"
        },
        {
          "@id": "tp-ont:Object"
        }
      ],
      "owl:equivalentClass": {
        "@id": "planning-ontology:ProblemPredicate"
      },
      "rdfs:label": {
        "@language": "en",
        "@value": "Predicate"
      }
    },
    {
      "@id": "tp-ont:DepotDomain_clear_hasArg0",
      "@type": "owl:ObjectProperty",
      "rdfs:domain": {
        "@id": "tp-ont:Predicate"
      },
      "rdfs:label": {
        "@language": "en",
        "@value": "clear_hasArg0"
      },
      "rdfs:range": {
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      },
      "rdfs:subPropertyOf": {
        "@id": "tp-ont:hasArg0"
      }
    },
    {
      "@id": "tp-ont:Driver",
      "@type": "owl:Class",
      "rdfs:label": {
        "@language": "en",
        "@value": "Driver"
      },
      "rdfs:subClassOf": [
        {
          "@id": "tp-ont:Object"
        },
        {
          "@id": "tp-ont:Locatable"
        }
      ]
    },
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  ]
}