Question 19: AUTOMATED PLANNING\ The domain description of a Blocks W…

1PREDICATES
2
3armEmpty         The arm is not holding any block, it is empty.
4holding(X)       The arm is holding X.
5onTable(X)       X is on the table.
6clear(X)         X has nothing above it, it is clear.
7on(X,Y)          X is directly placed on Y.
8
9OPERATORS
10
11Pickup(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
16Putdown(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) }