task 2

(define (problem learned_action_schema_fragment_online_problem)
  (:domain learned_action_schema_fragment)
  (:objects
    blue_block red_block - block
    green_drawer yellow_drawer - drawer
  )
  (:init-belief
    (prob (gripper_empty) 1.0)
    (prob (on_left yellow_drawer) 1.0)
    (prob (on_right green_drawer) 1.0)
    (prob (gripper_holding_block blue_block) 0.0)
    (prob (gripper_holding_block red_block) 0.0)
    (prob (on_left green_drawer) 0.0)
    (prob (on_right yellow_drawer) 0.0)
    (prob (on_top_of_left_block_drawer blue_block green_drawer) 0.0)
    (prob (on_top_of_left_block_drawer blue_block yellow_drawer) 0.0)
    (prob (on_top_of_left_block_drawer red_block green_drawer) 0.0)
    (prob (on_top_of_left_block_drawer red_block yellow_drawer) 0.0)
    (prob (open green_drawer) 0.0)
    (prob (open yellow_drawer) 0.0)
    (joint 0.5 (and (not (in green_drawer blue_block)) (in yellow_drawer blue_block)))
    (joint 0.5 (and (in green_drawer blue_block) (not (in yellow_drawer blue_block))))
    (joint 0.5 (and (not (in green_drawer red_block)) (in yellow_drawer red_block)))
    (joint 0.5 (and (in green_drawer red_block) (not (in yellow_drawer red_block))))
  )
  (:goal
    (or
      (and
        (not
          (on_top_of_left_block_drawer blue_block green_drawer)
        )
        (not
          (on_top_of_left_block_drawer blue_block yellow_drawer)
        )
        (not
          (on_top_of_left_block_drawer red_block green_drawer)
        )
        (on_top_of_left_block_drawer red_block yellow_drawer)
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (not
          (on_top_of_left_block_drawer blue_block green_drawer)
        )
        (not
          (on_top_of_left_block_drawer blue_block yellow_drawer)
        )
        (on_top_of_left_block_drawer red_block green_drawer)
        (not
          (on_top_of_left_block_drawer red_block yellow_drawer)
        )
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (not
          (on_top_of_left_block_drawer blue_block green_drawer)
        )
        (on_top_of_left_block_drawer blue_block yellow_drawer)
        (not
          (on_top_of_left_block_drawer red_block green_drawer)
        )
        (not
          (on_top_of_left_block_drawer red_block yellow_drawer)
        )
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (not
          (on_top_of_left_block_drawer blue_block green_drawer)
        )
        (on_top_of_left_block_drawer blue_block yellow_drawer)
        (not
          (on_top_of_left_block_drawer red_block green_drawer)
        )
        (on_top_of_left_block_drawer red_block yellow_drawer)
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (not
          (on_top_of_left_block_drawer blue_block green_drawer)
        )
        (on_top_of_left_block_drawer blue_block yellow_drawer)
        (on_top_of_left_block_drawer red_block green_drawer)
        (not
          (on_top_of_left_block_drawer red_block yellow_drawer)
        )
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (on_top_of_left_block_drawer blue_block green_drawer)
        (not
          (on_top_of_left_block_drawer blue_block yellow_drawer)
        )
        (not
          (on_top_of_left_block_drawer red_block green_drawer)
        )
        (not
          (on_top_of_left_block_drawer red_block yellow_drawer)
        )
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (on_top_of_left_block_drawer blue_block green_drawer)
        (not
          (on_top_of_left_block_drawer blue_block yellow_drawer)
        )
        (not
          (on_top_of_left_block_drawer red_block green_drawer)
        )
        (on_top_of_left_block_drawer red_block yellow_drawer)
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
      (and
        (on_top_of_left_block_drawer blue_block green_drawer)
        (not
          (on_top_of_left_block_drawer blue_block yellow_drawer)
        )
        (on_top_of_left_block_drawer red_block green_drawer)
        (not
          (on_top_of_left_block_drawer red_block yellow_drawer)
        )
        (not
          (open green_drawer)
        )
        (not
          (open yellow_drawer)
        )
      )
    )
  )
  (:metric maximize (total-reward))
)