(define (domain climber) (:requirements :typing :strips :probabilistic-effects) (:predicates (on-roof) (on-ground) (ladder-raised) (ladder-on-ground) (alive)) (:action climb-without-ladder :parameters () :precondition (and (on-roof) (alive)) :effect (and (not (on-roof)) (on-ground) (probabilistic 0.4 (not (alive))))) (:action climb-with-ladder :parameters () :precondition (and (on-roof) (alive) (ladder-raised)) :effect (and (not (on-roof)) (on-ground))) (:action call-for-help :parameters () :precondition (and (on-roof) (alive) (ladder-on-ground)) :effect (and (not (ladder-on-ground)) (ladder-raised)))) (define (problem climber-problem) (:domain climber) (:init (on-roof) (alive) (ladder-on-ground)) (:goal (and (on-ground) (alive))))