Question 24: AUTOMATED PLANNING\ The domain description of a Blocks W…

1 PREDICATES
2
3 armEmpty         The arm is not holding any block, it is empty.
4 holding(X)       The arm is holding X.
5 onTable(X)       X is on the table.
6 clear(X)         X has nothing above it, it is clear.
7 on(X,Y)          X is directly placed on Y.
8
9 OPERATORS
10
11 Pickup(X): pick up X from the table.
12       Preconditions: { armEmpty, clear(X), onTable(X) }
13       Add Effects  : { holding(X) }
14       Del Effects  : { armEmpty, onTable(X) }
15
16 Putdown(X): place X on the table.
17       Preconditions: { holding(X) }
18       Add Effects  : { armEmpty, onTable(X) }
19       Del Effects  : { holding(X) }
20
21Unstack(X,Y): pick up X that is directly sitting on Y.
22       Preconditions: { armEmpty, clear(X), on(X,Y) }
23       Add Effects  : { clear(Y), holding(X) }
24       Del Effects  : { armempty, on(X,Y) }
25
26Stack(X,Y): place X directly on top of Y.
27       Preconditions: { holding(X), clear(Y) }
28       Add Effects  : { armEmpty, on(X,Y) }
29       Del Effects  : { holding(X), clear(Y) }