(define (domain monkey-domain)
  (:requirements :strips :equality)

  (:predicates (location ?x)
               (on-floor)
               (at ?m ?x)
               (hasknife)
               (onbox ?x)
	       (eat-banana)
	       (get-key)
	       (open-cage)
               (hasbanana))
  (:constants monkey box knife banana)

  ;; movement and climbing
  (:action GO-TO
           :parameters (?x ?y)
           :precondition (and (location ?x) (location ?y)
                              (not (= ?y ?x)) (on-floor) (at monkey ?y))
           :effect (and (at monkey ?x) (not (at monkey ?y))))

  (:action CLIMB
           :parameters (?x)
           :precondition (and (location ?x) (at box ?x) (at monkey ?x))
           :effect (and (onbox ?x) (not (on-floor))))

  (:action PUSH-BOX
           :parameters (?x ?y)
           :precondition (and (location ?x) (location ?y)
                              (not (= ?y ?x)) (at box ?y) (at monkey ?y)
                              (on-floor))
           :effect (and (at monkey ?x) (not (at monkey ?y))
                        (at box ?x)    (not (at box ?y))))

  ;; getting banana
  (:action GET-KNIFE
           :parameters (?y)
           :precondition (and (location ?y) (at knife ?y) (at monkey ?y))
           :effect (and (hasknife) (not (at knife ?y))))

  (:action GRAB-BANANA
           :parameters (?y)
           :precondition (and (location ?y) (hasknife)
                              (at banana ?y) (onbox ?y))
           :effect (hasbanana)))

  (:action EAT-BANANA
           :parameters(?y)
           :precondition (and(location ?y) (hasbanana))
           :effect (eat-banana))








  (define (problem my-problem)
    (:domain monkey-domain)
    (:objects p1 p2 p3 p4)
    (:init (location p1)
           (location p2)
           (location p3)
           (location p4)
           (at monkey p1)
           (on-floor)
           (at box p2)
           (at banana p3)
           (at knife p4))
    (:goal (AND (hasbanana)))
    (:length (:serial 20) (:parallel 10)))