Question 22: AUTOMATED PLANNING\ The domain description of a blocks-w…

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) }