planner_task(1, [se(block,block6,[clear(block6),on_block(block6,block4)])], [ss(gripper,tom,[free(tom)]), ss(block,block1,[on_table(block1),clear(block1)]), ss(block,block2,[on_table(block2),clear(block2)]), ss(block,block3,[on_table(block3)]), ss(block,block4,[on_table(block4)]), ss(block,block5,[on_block(block5,block4),clear(block5)]), ss(block,block6,[on_table(block6),clear(block6)]), ss(block,block7,[on_block(block7,block3),clear(block7)])] ). planner_task(2, [se(block,block2,[on_block(block2,block5)]), se(block,block1,[clear(block1),on_block(block1,block2)]), se(gripper,tom,[busy(tom)])], [ss(gripper,tom,[free(tom)]), ss(block,block1,[on_block(block1,block3),clear(block1)]), ss(block,block2,[on_table(block2)]), ss(block,block3,[on_table(block3)]), ss(block,block4,[on_table(block4)]), ss(block,block5,[on_table(block5),clear(block5)]), ss(block,block6,[on_block(block6,block4),clear(block6)]), ss(block,block7,[on_block(block7,block2),clear(block7)])] ). planner_task(3, [se(gripper,tom,[free(tom)]), se(block,block1,[on_block(block1,block2)])], [ss(gripper,tom,[free(tom)]), ss(block,block1,[on_table(block1)]), ss(block,block2,[on_table(block2),clear(block2)]), ss(block,block3,[on_block(block3,block1),clear(block3)]), ss(block,block4,[on_table(block4),clear(block4)]), ss(block,block5,[on_table(block5),clear(block5)]), ss(block,block6,[on_table(block6),clear(block6)]), ss(block,block7,[on_table(block7),clear(block7)])] ). planner_task(4, [se(block,block6,[on_block(block6,block4)]), se(block,block2,[clear(block2)]), se(gripper,tom,[free(tom)])], [ss(gripper,tom,[busy(tom)]), ss(block,block1,[on_block(block1,block4),clear(block1)]), ss(block,block2,[on_table(block2)]), ss(block,block3,[gripped(block3,tom)]), ss(block,block4,[on_table(block4)]), ss(block,block5,[on_block(block5,block7),clear(block5)]), ss(block,block6,[on_block(block6,block2),clear(block6)]), ss(block,block7,[on_table(block7)])] ). planner_task(5, [se(block,block7,[gripped(block7,tom)]), se(block,block6,[on_table(block6)]), se(gripper,tom,[busy(tom)])], [ss(gripper,tom,[busy(tom)]), ss(block,block1,[on_table(block1),clear(block1)]), ss(block,block2,[on_block(block2,block5),clear(block2)]), ss(block,block3,[on_table(block3)]), ss(block,block4,[gripped(block4,tom)]), ss(block,block5,[on_block(block5,block6)]), ss(block,block6,[on_table(block6)]), ss(block,block7,[on_block(block7,block3),clear(block7)])] ).