Blocksworld.md

Blocksworld

This domain is one of the first planning models. It consists of a hand robot that can pick up or drop blocks for recycling purpose. Initially, all blocks are on a conveyor belt (or a table) as shown in the figure:

The goal is that the blocks are stacked as in the figure:

The hand robot distinguished between blocks on the belt or on top or other blocks. Then 4 different actions are needed.

Create a file called blocks.pddl and copy the following domain description:

(define (domain blocks)
  (:requirements :strips)
  (:predicates 
           (on ?x ?y)
         (ontable ?x)
         (clear ?x)
         (handempty)
         (holding ?x)
         )
  (:action pick-up
       :parameters (?x)
       :precondition (and (clear ?x) (ontable ?x) (handempty))
       :effect (and (not (ontable ?x))
                    (not (clear ?x))
                    (not (handempty))
                    (holding ?x))
   )
  (:action unstack
       :parameters (?x ?y)
       :precondition (and (on ?x ?y) (clear ?x) (handempty))
       :effect (and (holding ?x)
                    (clear ?y)
                    (not (clear ?x))
                    (not (handempty))
                    (not (on ?x ?y)))
   )  
  (:action stack
       :parameters (?x ?y)
       :precondition (and 
       :effect
       (and 
       )
   )
  (:action put-down
       :parameters (?x)
       :precondition 
       :effect
       (and 
       )
   )  
)

Do the following steps:

1. Write the stack and put-down actions.
2. Write the domain problem based on the situation of both previous figures.
3. Run the planning model.
4. Change the initial state to the following one and run the model.

(clear c) (clear b) (ontable a) (ontable b) (on c a)

5. Modify the domain so it can consider types, i.e. block. Modify the domain and the problem in order to support it.
6. Consider the object declaration:

(:objects C D E F B I J A N O K M P H G L Q - block)

and the goal declaration

(and (on Q N) (on N L) (on L O) (on O J) (on J H) (on H C) (on C E)
     (on E M) (on M P) (on P A) (on A G) (on G B) (on B I) (on I K)
     (on K F) (on F D))

Define the initial state that you want and run it.