;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;; SNLP blocks world with 3 operators ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (define (domain snlp-bw2) (:requirements :adl) (:predicates (clear ?x) (on-table ?x) (on ?x ?y)) (:action stack :parameters (?x ?y) :precondition (AND (clear ?x) (clear ?y) (on-table ?x)) :effect (AND (on ?x ?y) (NOT (on-table ?x)) (NOT (clear ?y)))) (:action unstack :parameters (?x ?y) :precondition (AND (clear ?x) (on ?x ?y)) :effect (AND (on-table ?x) (NOT (on ?x ?y)) (clear ?y))) (:action move :parameters (?x ?y ?z) :precondition (AND (on ?x ?y) (clear ?x) (clear ?z)) :effect (AND (on ?x ?z) (clear ?y) (NOT (clear ?z)) (NOT (on ?x ?y)))))