;; TDDC17 - Lab 4
;; S.'s W. problem 1
;; Last modification: 2020-10-04

;; Problem description
;; The first problem has three rooms, connect by doors as discribed below:
;;      -------------------------------------------------------------------------
;;      |                       |                       |                       |
;;      |                       |                       |                       |
;;      |       light switch 1 -|- light switch2        |- light switch3        |
;;      |                       |                       |                       |
;;      |       ---             |                     door2                     |
;;      |       | |           door1      shakey         |                       |
;;      |       ---           (wide)                    |                       |
;;      |       box             |                       |                       |
;;      |                       |                     door3                     |
;;      |                       |                     (wide)                    |
;;      |        r1             |        r2             |         r3            |
;;      -------------------------------------------------------------------------
;; Shakey must find four small objects distributed in the three rooms and bring 
;; them back to the first room. All lights are off initially. The box allowing 
;; Shakey to turn on the lights is in the first room.


;; Our problem1 definition
(define (problem pb1)
	(:domain shakey)
	
	(:objects
		;; Our three rooms
		r1 - room
		r2 - room
		r3 - room

		;; The box
		box1 - object

		;; The four small objects
		small1 - object
		small2 - object
		small3 - object
		small4 - object

		;; The two Shakey's grippers
		right - gripper
		left - gripper
	)
	
	(:init
		;; Init position
		;; At the beginning, Shakey is in room 2.
		(position r2)
		
		;; Init connections (as discribed above).
		(connected_wide r1 r2)
		(connected_wide r2 r1)
		(connected_wide r2 r3)
		(connected_wide r3 r2)
		(connected r1 r2)
		(connected r2 r1)
		(connected r2 r3)
		(connected r3 r2)

		;; Init object positions
		(in box1 r1)
		(is_big box1)
		(in small1 r1)
		(in small2 r2)
		(in small3 r3)
		(in small4 r3)
		
		;; Init light (light nowhere)
		;;(not (light r1))
		;;(not (light r2))
		;;(not (light r3))

		;; Init gripper
		(is_empty right)
		(is_empty left)
	)
	
	;; The goal is to have all four objects in the room 1.
	(:goal
		(and (in small1 r1)
		(in small2 r1)
                (in small3 r1)
                (in small4 r1))
	)
)