Question 25: AUTOMATED PANNING\ The domain description of a blocks-wo…

1PREDICATES
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 on Y.
8
9OPERATORS
10
11     Pickup(X): pick up X from the table.
12
13        Preconditions: { armEmpty, clear(X), onTable(X) }
14        Add Effects  : { holding(X) }
15        Del Effects  : { armEmpty, onTable(X) }
16
17  Putdown(X): place X on the table.
18
19      Preconditions: { holding(X) }
20      Add Effects  : { armEmpty, onTable(X) }
21      Del Effects  : { holding(X) }
22
23  Unstack(X,Y): pick up X that is directly sitting on Y.
24
25     Preconditions: { armEmpty, clear(X), on(X,Y) }
26     Add Effects  : { clear(Y), holding(X) }
27     Del Effects  : { armempty, on(X,Y) }
28
29  Stack(X,Y): place X directly on top of Y.
30
31     Preconditions: { holding(X), clear(Y) }
32     Add Effects  : { armEmpty, on(X,Y) }
33     Del Effects  : { holding(X), clear(Y) }