;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;; AT&T blocks world without disjunctive preconditions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (define ( domain att-bw2 ) ( :requirements :strips :equality) (:predicates (is-table ?t) (block ?b) (clear ?b) (on ?x ?y)) (:constants table) ( :action move-to-table :parameters (?obj ?source ?dest) ; move obj from source to dest :precondition (AND (is-table ?dest) (block ?obj) (clear ?obj) (on ?obj ?source) (not (= ?obj ?source)) (not (= ?obj ?dest)) (not (= ?source ?dest)) (not (= ?obj table))) :effect (AND (NOT (on ?obj ?source)) (clear ?source) (on ?obj ?dest))) ( :action move-to-block :parameters (?obj ?source ?dest) ; move obj from source to dest :precondition (AND (clear ?dest) (block ?obj) (block ?dest) (clear ?obj) (on ?obj ?source) (not (= ?obj ?source)) (not (= ?obj ?dest)) (not (= ?source ?dest)) (not (= ?obj table))) :effect (AND (NOT (on ?obj ?source)) (NOT (clear ?dest)) (clear ?source) (on ?obj ?dest))))