(define (domain hanoi) (:requirements :strips) (:predicates (clear ?x) (on ?x ?y) (smaller ?x ?y)) (:action move :parameters (?disc ?from ?to) :precondition (and (smaller ?to ?disc) (on ?disc ?from) (clear ?disc) (clear ?to)) :effect (and (clear ?from) (on ?disc ?to) (not (on ?disc ?from)) (not (clear ?to))) ))