SI - 14.10 Zadanie w domu

############################################
#####   Plik dziedziny

(define
	(domain world-of-blocks)
	(:requirements :adl)
	(:predicates
		(on-top ?x ?y)
		(on-floor ?x)
		(clear ?x)
		(raised ?x)
	)

;----- RAISING OPERATORS -----

	(:action podnies-z-paczki
		:parameters (?x ?y)
		:precondition
		(and
			(clear ?x)
			(on-top ?x ?y)
			(not (exists (?z) (raised ?z)))
		)
		:effect
		(and
			(raised ?x)
			(not (on-top ?x ?y))
			(clear ?y)
		)
	)

	(:action podnies-z-podlogi
		:parameters (?x)
		:precondition
		(and
			(clear ?x)
			(on-floor ?x)
			(not (exists (?z) (raised ?z)))
		)
		:effect
		(and
			(raised ?x)
			(not (on-floor ?x))
		)
	)



; ----- LOWERING OPERATORS -----

	(:action opusc-na-paczke
		:parameters (?x ?y)
		:precondition
		(and
			(raised ?x)
			(clear ?y)
		)
		:effect
		(and
			(not (clear ?y))
			(on-top ?x ?y)
			(not (raised ?x))
		)
	)

	(:action opusc-na-podloge
		:parameters (?x)
		:precondition
		(and
			(raised ?x)
		)
		:effect
		(and
			(on-floor ?x)
			(not (raised ?x))
		)
	)

)

############################################
#####   Konfiguracja 1

	(:init
		(clear c)
		(on-top c b)
		(on-top b a)
		(on-floor a)
		(clear e)
		(on-top e d)
		(on-floor d)
	)
	(:goal
		(and
			(clear d)
			(on-top d b)
		)
	)

#############################################
#####   Konfiguracja 2

	(:init
		(clear c)
		(on-top c b)
		(on-top b a)
		(on-floor a)
		(clear e)
		(on-top e d)
		(on-floor d)
	)
	(:goal
		(and
			(clear a)
			(clear b)
			(clear c)
			(clear d)
			(clear e)
			(on-floor a)
			(on-floor b)
			(on-floor c)
			(on-floor d)
			(on-floor e)
		)
	)