Question 22: AUTOMATED PLANNING\ The domain description of a Blocks W…

1armEmpty        The arm is not holding any block, it is empty.
2holding(X)      The arm is holding X.
3onTable(X)      X is on the table.
4clear(X)        X has nothing above it, it is clear.
5on(X,Y)         X is directly placed on Y.

1Pickup(X): pick up X from the table.
2
3     Preconditions: { armEmpty, clear(X), onTable(X) }
4     Add Effects  : { holding(X) }
5     Del Effects  : { armEmpty, onTable(X) }
6
7Putdown(X): place X on the table.
8
9     Preconditions: { holding(X) }
10     Add Effects  : { armEmpty, onTable(X) }
11     Del Effects  : { holding(X) }
12
13Unstack(X,Y): pick up X that is directly sitting on Y.
14
15     Preconditions: { armEmpty, clear(X), on(X,Y) }
16     Add Effects  : { clear(Y), holding(X) }
17     Del Effects  : { armempty, on(X,Y) }
18
19Stack(X,Y): place X directly on top of Y.
20
21     Preconditions: { holding(X), clear(Y) }
22     Add Effects  : { armEmpty, on(X,Y) }
23     Del Effects  : { holding(X), clear(Y) }