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

	(:action pickup
		:parameters (?x)
		:precondition
		(and
			(clear ?x)
			(on-floor ?x)
			(armempty)
		)
		:effect
		(and
			(armholding ?x    )
			(not (on-floor?x) )
			(not (armempty)   )
		)
	)
	(:action putdown
		:parameters (?x)
		:precondition (armholding ?x)
		:effect
		(and
			(on-floor ?x)
			(armempty)
			(not (armholding ?x))
		)
	)
	(:action stack
		:parameters (?x ?y)
		:precondition
		(and
			(clear ?y)
			(armholding ?x)
		)
		:effect
		(and
			(on-top ?x ?y)
			(clear ?x)
			(armempty)
			(not(armholding ?x))
			(not(clear ?y))
		)
	)
	(:action unstack
		:parameters (?x ?y)
		:precondition
		(and
			(on-top ?x ?y)
			(clear ?x)
			(armempty)
		)
		:effect
		(and
			(not(on-top ?x ?y))
			(not(armempty))
			(armholding ?x)
			(clear ?y)
		)
	)

)




(define (problem p1)
	(:domain world-of-blocks)
	(:objects a b c arm)
	(:init
		(clear b)
		(on-floor b)
		(on-floor a)
		(on-top c a)
		(clear c)
		(armempty)
	)
	(:goal
		(and
			(clear a)
			(on-top a b)
			(on-top b c)
			(on-floor c)
			(armempty)
		)
	)
)





(define
	(domain sokoban)
	(:requirements :adl)
	(:predicates
		(poziomo ?x ?y)
		(pionowo ?x ?y)
		(paczka ?x)
		(robot ?x)
		(cel ?x)
	)
	(:action idz
		:parameters (?x ?y)
		:precondition
		(and
			(robot ?x)
			(not(paczka ?y))
			(or
				(poziomo ?x ?y)
				(pionowo ?x ?y)
			)
		)
		:effect
		(and
			(not(robot ?x))
			(robot ?y)
		)
	)
	(:action pchaj
		:parameters (?x ?y ?z)
		:precondition
		(and
			(not(= ?x ?z))
			(robot ?x)
			(paczka ?y)
			(not(paczka ?z))
			(or
				(and (poziomo ?x ?y) (poziomo ?y ?z))
				(and (pionowo ?x ?y) (pionowo ?y ?z))
			)
		)
		:effect
		(and
			(not(robot ?x))
			(robot ?y)
			(not(paczka ?y))
			(paczka ?z)
		)
	)
)






(define
	(domain hanoi)
	(:requirements :adl)
	(:predicates
		(on-top ?x ?y)
		(on-tower ?k ?x)
		(clear ?x)
		(smaller ?x ?y)
	)
	(:action przesun-na-pusty
		:parameters (?x ?y ?ktop ?kpod)
		:precondition
		(and
			(clear ?ktop)
			(on-tower ?ktop ?x)
			(on-top ?ktop ?kpod)
			(clear ?y)
		)
		:effect
		(and
			(not(on-tower ?ktop ?x))
			(on-tower ?ktop ?y)
			(not(on-top ?ktop ?kpod))
			(on-top ?ktop ?y)
			(clear ?kpod)
			(not(clear ?y))
		)
	)
	(:action przesun
		:parameters (?x ?y ?ktop ?kpod ?ky)
		:precondition
		(and
			(clear ?ktop)
			(smaller ?ktop ?ky)
			(on-tower ?ktop ?x)
			(on-top ?ktop ?kpod)
			(on-tower ?ky ?y)
			(clear ?ky)
		)
		:effect
		(and
			(not(on-tower ?ktop ?x))
			(on-tower ?ktop ?y)
			(not(on-top ?ktop ?kpod))
			(clear ?kpod)
			(on-top ?ktop ?ky)
			(not(clear ?ky))
		)
	)
)






(define (problem hanoi1)
(:domain hanoi)
(:objects x y z k1 k2 k3 k4 k5 )
(:init
	(clear y)
	(clear z)
	(clear k1)
	(on-top k1 k2)
	(on-top k2 k3)
	(on-top k3 k4)
	(on-top k4 k5)
	(on-top k5 x)
	(on-tower k1 x)
	(on-tower k2 x)
	(on-tower k3 x)
	(on-tower k4 x)
	(on-tower k5 x)
	(smaller k1 k2)
	(smaller k2 k3)
	(smaller k3 k4)
	(smaller k4 k5)

)
(:goal (and
	(clear y)
	(clear x)
	(clear k1)
	(on-top k1 k2)
	(on-top k2 k3)
	(on-top k3 k4)
	(on-top k4 k5)
	(on-top k5 x)
	(on-tower k1 z)
	(on-tower k2 z)
	(on-tower k3 z)
	(on-tower k4 z)
	(on-tower k5 z)
))
)