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PDDL

    Blocks World Example domain file :

    (define (domain blocksworld)
    (:predicates (clear ?x)
    (holding ?x)
    (on ?x ?y))
    (
        :action stack
        :parameters (?ob ?underob)
        :precondition (and (clear ?underob) (holding ?ob))
        :effect (and (holding nil) (on ?ob ?underob)
            (not (clear ?underob)) (not (holding ?ob)))
    )
      …

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