YES

TRS:

  f(0()) -> cons(0())
  f(s(0())) -> f(p(s(0())))
  p(s(0())) -> 0()

linear polynomial interpretations on N:

  f_A(x1) = 1
  f#_A(x1) = x1
  0_A = 1
  0#_A = 2
  cons_A(x1) = x1
  cons#_A(x1) = 0
  s_A(x1) = 4
  s#_A(x1) = 3
  p_A(x1) = 1
  p#_A(x1) = 3

precedence:

  p > f > cons = s > 0