diff --git a/domains/transterra_v1.ddl b/domains/transterra_v1.ddl
index 55b04d9..100d3a7 100644
--- a/domains/transterra_v1.ddl
+++ b/domains/transterra_v1.ddl
@@ -32,7 +32,7 @@
 
 (MaxArgs 3)
 
-(PredicateSymbols At RobotAt Attached ContainerAt BatteryAt
+(PredicateSymbols ObjAt RobotAt Attached ContainerAt BatteryAt
   !create_attached_fluent !!check_empty !move_to !sample_regolith
   !transfer_sample !transfer_battery !transfer_payload !pickup_basecamp
   !tuck_arms !place_basecamp
@@ -153,8 +153,6 @@
  (Constraint During(task,p2))
  (Add e1 ContainerAt(?container ?robot2 ?level))
  (Constraint Meets(task,e1))
-    (Usage ManipulationCapacityRover 1)
-    (Param 1 rover1))
  (ResourceUsage
     (Usage ManipulationCapacityRover 1)
     (Param 2 rover1))
@@ -172,8 +170,6 @@
  (Constraint During(task,p2))
  (Add e1 BatteryAt(?battery ?robot2 ?status))
  (Constraint Meets(task,e1))
-    (Usage ManipulationCapacityRover 1)
-    (Param 1 rover1))
  (ResourceUsage
     (Usage ManipulationCapacityRover 1)
     (Param 2 rover1))
@@ -190,8 +186,6 @@
  (Constraint During(task,p2))
  (Add e1 Attached(?payload ?robot2))
  (Constraint Meets(task,e1))
-    (Usage ManipulationCapacityRover 1)
-    (Param 1 rover1))
  (ResourceUsage
     (Usage ManipulationCapacityRover 1)
     (Param 2 rover1))
@@ -204,7 +198,7 @@
  (Type ?camp BaseCamp)
  (Pre p1 RobotAt(?robot1 ?area))
  (Constraint During(task,p1))
- (Pre p2 At(?camp ?area))
+ (Pre p2 ObjAt(?camp ?area))
  (Del p2)
  (Constraint Meets(p2,task))
  (Add e1 Attached(?camp ?robot))
@@ -237,7 +231,7 @@
  (Constraint During(task,p1))
  (Pre p2 Attached(?camp ?robot))
  (Del p2)
- (Add e1 At(?camp ?area))
+ (Add e1 ObjAt(?camp ?area))
  (Constraint Meets(task,e1))
  (ResourceUsage ManipulationCapacityRover 1)
 )
diff --git a/problems/ico/move_2_objects.pdl b/problems/ico/move_2_objects.pdl
index f2e2b8d..8d7d8a6 100644
--- a/problems/ico/move_2_objects.pdl
+++ b/problems/ico/move_2_objects.pdl
@@ -49,7 +49,7 @@
 #(Fluent c9 Connected(placingAreaEastRightCounterOS1 manipulationAreaEastCounterOS1))
 #(Constraint Release[0,0](c9))
 
-(Fluent f0 At(guest1 guestArea1))
+(Fluent f0 PersonAt(guest1 guestArea1))
 (Constraint Release[0,0](f0))
 
 (Fluent c10 Connected(guestArea1 manipulationAreaEastTable2))
diff --git a/problems/ico/testing/test_m_get_object1.pdl b/problems/ico/testing/test_m_get_object1.pdl
index 25bc32b..6a4cb8f 100644
--- a/problems/ico/testing/test_m_get_object1.pdl
+++ b/problems/ico/testing/test_m_get_object1.pdl
@@ -49,7 +49,7 @@
 #(Fluent c9 Connected(placingAreaEastRightCounterOS1 manipulationAreaEastCounterOS1))
 #(Constraint Release[0,0](c9))
 
-(Fluent f0 At(guest1 guestArea1))
+(Fluent f0 PersonAt(guest1 guestArea1))
 (Constraint Release[0,0](f0))
 
 (Fluent c10 Connected(guestArea1 manipulationAreaEastTable2))
diff --git a/problems/ico/testing/test_m_move_object1.pdl b/problems/ico/testing/test_m_move_object1.pdl
index 821b9cc..8837178 100644
--- a/problems/ico/testing/test_m_move_object1.pdl
+++ b/problems/ico/testing/test_m_move_object1.pdl
@@ -49,7 +49,7 @@
 #(Fluent c9 Connected(placingAreaEastRightCounterOS1 manipulationAreaEastCounterOS1))
 #(Constraint Release[0,0](c9))
 
-(Fluent f0 At(guest1 guestArea1))
+(Fluent f0 PersonAt(guest1 guestArea1))
 (Constraint Release[0,0](f0))
 
 (Fluent c10 Connected(guestArea1 manipulationAreaEastTable2))
diff --git a/problems/ico/testing/test_m_put_object1.pdl b/problems/ico/testing/test_m_put_object1.pdl
index 0e6ff41..3ddfa8a 100644
--- a/problems/ico/testing/test_m_put_object1.pdl
+++ b/problems/ico/testing/test_m_put_object1.pdl
@@ -49,7 +49,7 @@
 #(Fluent c9 Connected(placingAreaEastRightCounterOS1 manipulationAreaEastCounterOS1))
 #(Constraint Release[0,0](c9))
 
-(Fluent f0 At(guest1 guestArea1))
+(Fluent f0 PersonAt(guest1 guestArea1))
 (Constraint Release[0,0](f0))
 
 (Fluent c10 Connected(guestArea1 manipulationAreaEastTable2))
diff --git a/problems/transterra_problems_v1/test_op_pickup_basecamp.pdl b/problems/transterra_problems_v1/test_op_pickup_basecamp.pdl
index 9972e40..6df9cca 100644
--- a/problems/transterra_problems_v1/test_op_pickup_basecamp.pdl
+++ b/problems/transterra_problems_v1/test_op_pickup_basecamp.pdl
@@ -18,7 +18,7 @@
 (Fluent f1 RobotAt(rover1 landingSite1))
 (Constraint Release[0,0](f1))
 
-(Fluent f2 At(baseCamp1 landingSite1))
+(Fluent f2 ObjAt(baseCamp1 landingSite1))
 (Constraint Release[0,0](f2))
 
 (Task t0 !pickup_basecamp(rover1 baseCamp1))
diff --git a/testing/negative_precondition_resource/negative_test_domain.ddl b/testing/negative_precondition_resource/negative_test_domain.ddl
index 2c1870d..2d998f7 100644
--- a/testing/negative_precondition_resource/negative_test_domain.ddl
+++ b/testing/negative_precondition_resource/negative_test_domain.ddl
@@ -123,7 +123,7 @@
  (Type ?camp BaseCamp)
  (Pre p1 RobotAt(?robot1 ?area))
  (Constraint During(task,p1))
- (Pre p2 At(?camp ?area))
+ (Pre p2 PersonAt(?camp ?area))
  (Del p2)
  (Constraint Meets(p2,task))
  (Add e1 Attached(?camp ?robot))
@@ -140,7 +140,7 @@
  (Constraint During(task,p1))
  (Pre p2 Attached(?camp ?lander))
  (Del p2)
- (Pre p3 At(?lander ?area))
+ (Pre p3 PersonAt(?lander ?area))
  (Constraint Meets(p2,task))
  (Add e1 Attached(?camp ?robot))
  (Constraint Meets(task,e1))
@@ -156,7 +156,7 @@
  (Constraint During(task,p1))
  (Pre p2 Attached(?camp ?robot))
  (Del p2)
- (Add e1 At(?camp ?area))
+ (Add e1 PersonAt(?camp ?area))
  (Constraint Meets(task,e1))
  (ResourceUsage ManipulationCapacityRover 1)
 )
@@ -251,7 +251,7 @@
  (Type ?lander Lander)
  
  (Pre p1 RobotAt(?robot ?robotArea))
- (Pre p2 At(?lander ?landerArea))
+ (Pre p2 PersonAt(?lander ?landerArea))
  (VarDifferent ?robotArea ?landerArea)
 
  (Sub s1 !move_to(?rover ?landerArea))
@@ -273,7 +273,7 @@
  (Type ?lander Lander)
  
  (Pre p1 RobotAt(?robot ?area))
- (Pre p2 At(?lander ?area))
+ (Pre p2 PersonAt(?lander ?area))
 
  (Sub s1 !pickup_basecamp(?robot ?camp))
  (Constraint Equals(s1,task))
@@ -305,4 +305,4 @@
 
 # (Sub s1 !!check_empty())
 # (Constraint Equals(s1,task))
-)
\ No newline at end of file
+)