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VAL plan validation tutorial for beginners

General usage for validation would be... val Validate -v domain.pddl problem.pddl planfile Have you taken a look at the command line help, by chance? Fairly decent ...
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Using additional parameters in PDDL precondition and effects of actions

You should also have ?c in the parameter list. Every parameter that you use needs to be bound to some declaration. Also, note that you need to specify your parameters with the right typing syntax. So ...
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