:- expects_dialect(lps).

maxTime(10).
fluents location(_,_).

actions move(_,_).

initially location(b, floor), location(c, b), location(a, floor).

observe move(d,a) from 3 to 4.
%  observe move(d,a) from 1 to 2.

if true
then make_tower([b,a,floor]) from T1 to T2.

%if move(X, Y) from T1 to T2
%then make_clear(a) from T2 to T3.

clear(Block) at T if Block \= floor,
     not location(_,Block) at T.

clear(floor) at _.

make_tower([Block,floor]) from T1 to T2 if
     make_on(Block,floor) from T1 to T2.

make_tower([Block,Place|Places]) from T1 to T3 if
     Place \= floor,
     make_tower([Place|Places]) from T1 to T2,
     make_on(Block,Place) from T2 to T3.

/*
 * make_on(Block,Place) from T1 to T4 if
     not location(Block,Place) at T1,
     make_clear(Place) from T1 to T2,
 	 make_clear(Block) from T2 to T3,
     move(Block,Place) from T3 to T4.
 */

make_on(Block,Place) from T1 to T4 if
     not location(Block,Place) at T1,
     make_clear(Block) from T2 to T3,
 	 make_clear(Place) from T4 to T5,
     move(Block,Place) from T6 to T7.

make_on(Block,Place) from T to T if
     location(Block,Place) at T.

make_clear(Place) from T to T if
     clear(Place) at T.

make_clear(Block) from T1 to T2 if
     location(Block1,Block) at T1,
     make_on(Block1,floor) from T1 to T2.

move(Block,Place)  initiates location(Block,Place).
move(Block,_)  terminates location(Block,Place).

false move(Block, Place), not clear(Block).
false move(Block, Place), not clear(Place).