| (define (domain blocksworld-4ops) | |
| (:requirements :strips) | |
| (:predicates (clear ?x) | |
| (ontable ?x) | |
| (handempty) | |
| (holding ?x) | |
| (on ?x ?y)) | |
| (:action pick-up | |
| :parameters (?ob) | |
| :precondition (and (clear ?ob) (ontable ?ob) (handempty)) | |
| :effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob)) | |
| (not (handempty)))) | |
| (:action put-down | |
| :parameters (?ob) | |
| :precondition (holding ?ob) | |
| :effect (and (clear ?ob) (handempty) (ontable ?ob) | |
| (not (holding ?ob)))) | |
| (:action stack | |
| :parameters (?ob ?underob) | |
| :precondition (and (clear ?underob) (holding ?ob)) | |
| :effect (and (handempty) (clear ?ob) (on ?ob ?underob) | |
| (not (clear ?underob)) (not (holding ?ob)))) | |
| (:action unstack | |
| :parameters (?ob ?underob) | |
| :precondition (and (on ?ob ?underob) (clear ?ob) (handempty)) | |
| :effect (and (holding ?ob) (clear ?underob) | |
| (not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty))))) | |