PDDL / lab1

(define
    (domain world-of-blocks)
    (:requirements :adl)
    (:predicates
        (on-top ?x ?y) ; gora dol
        (on-floor ?x)
        (clear ?x)
        (podniesiony ?x)
    )

    (:action podnies-z-paczki

        ;x-co podnosze
        ;z-z czego podnosze
        :parameters (?x ?z)
        :precondition
        (and
            (clear ?x)
            (on-top ?x ?z)
            (not (exists (?y) (podniesiony ?y)))
        )
        :effect
        (and
            (podniesiony ?x)
            (not (on-top ?x ?z))
            (clear ?z)
        )
    );action podnies-z-paczki

    (:action opusc-na-paczke
        :parameters (?x ?z) ;gdzie co
        ;x na co kladziemy
        ;z co kladizemy
        :precondition
        (and
            (podniesiony ?z)
            (clear ?x)
        )
        :effect
        (and
            (not (podniesiony ?z))
            (on-top ?z ?x )
            (clear ?z)
            (not (clear ?x))
        )
    );action opusc-na-paczke

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

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