;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;; Prodigy blocks world ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (define (domain prodigy-bw) (:requirements :strips) (:predicates (on ?x ?y) (on-table ?x) (clear ?x) (arm-empty) (holding ?x) ) (:action pick-up :parameters (?ob1) :precondition (and (clear ?ob1) (on-table ?ob1) (arm-empty)) :effect (and (not (on-table ?ob1)) (not (clear ?ob1)) (not (arm-empty)) (holding ?ob1))) (:action put-down :parameters (?ob) :precondition (holding ?ob) :effect (and (not (holding ?ob)) (clear ?ob) (arm-empty) (on-table ?ob))) (:action stack :parameters (?sob ?sunderob) :precondition (and (holding ?sob) (clear ?sunderob)) :effect (and (not (holding ?sob)) (not (clear ?sunderob)) (clear ?sob) (arm-empty) (on ?sob ?sunderob))) (:action unstack :parameters (?sob ?sunderob) :precondition (and (on ?sob ?sunderob) (clear ?sob) (arm-empty)) :effect (and (holding ?sob) (clear ?sunderob) (not (clear ?sob)) (not (arm-empty)) (not (on ?sob ?sunderob)))))