1 Pickup(X) - Pick up X directly from the table.
2 Preconditions: { armEmpty, clear(X), onTable(X) }
3 Add-Effects : { holding(X) }
4 Del-Effects : { armEmpty, onTable(X) }
5
6 Putdown(X) - Place X directly on the table.
7 Preconditions: { holding(X) }
8 Add-Effects : { armEmpty, onTable(X) }
9 Del-Effects : { holding(X) }
10 Unstack(X,Y) - Pick up X that is directly on Y.
11 Preconditions: { armEmpty, clear(X), on(X,Y) }
12 Add-Effects : { clear(Y), holding(X) }
13 Del-Effects : { armempty, on(X,Y) }
14
15 Stack(X,Y) - Place X directly on Y.
16 Preconditions: { holding(X), clear(Y) }
17 Add-Effects : { armEmpty, on(X,Y) }
18 Del-Effects : { holding(X), clear(Y) }