;; Generated by blocksworld generator
;; http://www.cs.rutgers.edu/~jasmuth/blocksworld.tar.gz
;; by John Asmuth (jasmuth@cs.rutgers.edu)

(define (domain blocks-domain)
 (:requirements :adl :probabilistic-effects)
 (:types block table)
 (:constants table - table)
 (:predicates
  (is-red ?block - block)
  (is-blue ?block - block)
  (holding ?block - block)
  (on-top-of ?block - block ?obj)
 )
 (:action pick-up-block-from
  :parameters (?top - block ?bottom)
  :precondition (and (not (= ?top ?bottom))
                     (forall (?b - block) (not (holding ?b)))
                     (on-top-of ?top ?bottom)
                     (forall (?b - block) (not (on-top-of ?b ?top))))
  :effect (probabilistic 0.75 (and (holding ?top)
                                   (not (on-top-of ?top ?bottom)))
                         0.25 (when (not (= ?bottom table))
                                    (and (not (on-top-of ?top ?bottom))
                                         (on-top-of ?top table))))
 )
 (:action put-down-block-on
  :parameters (?top - block ?bottom)
  :precondition (and (not (= ?top ?bottom))
                     (holding ?top)
                     (or (= ?bottom table)
                         (forall (?b - block) (not (on-top-of ?b ?bottom)))))
  :effect (and (not (holding ?top))
               (probabilistic 0.75 (on-top-of ?top ?bottom)
                              0.25 (on-top-of ?top table)))
 )
)
(define (problem blocks-problem)
 (:domain blocks-domain)
 (:objects block0 block1 block2 block3 block4 - block)
 (:init
  (on-top-of block0 block1)
  (on-top-of block1 block2)
  (on-top-of block2 table)
  (on-top-of block3 table)
  (on-top-of block4 table)
  (is-red block0)
  (is-blue block1)
  (is-red block2)
  (is-red block3)
  (is-blue block4)
 )
 (:goal
  (and
   (exists (?fb0 - block)
    (and
     (is-red ?fb0)
   (exists (?fb1 - block)
    (and
     (not (= ?fb0 ?fb1))
     (is-blue ?fb1)
     (on-top-of ?fb0 ?fb1)
   (exists (?fb2 - block)
    (and
     (not (= ?fb0 ?fb2))
     (not (= ?fb1 ?fb2))
     (is-red ?fb2)
     (on-top-of ?fb1 ?fb2)
   (exists (?fb3 - block)
    (and
     (not (= ?fb0 ?fb3))
     (not (= ?fb1 ?fb3))
     (not (= ?fb2 ?fb3))
     (is-blue ?fb3)
     (on-top-of ?fb2 ?fb3)
   (exists (?fb4 - block)
    (and
     (not (= ?fb0 ?fb4))
     (not (= ?fb1 ?fb4))
     (not (= ?fb2 ?fb4))
     (not (= ?fb3 ?fb4))
     (is-red ?fb4)
     (on-top-of ?fb3 table)
     (on-top-of ?fb4 table)
))))))))))
  )
 )
)