Action Schemata

(:operator pick-up

:parameters ((block ?ob1))

:precondition (:and (clear ?ob1) (on-table ?ob1) (arm-empty))

:effect (:and (:not (on-table ?ob1))

(:not (clear ?ob1))

(:not (arm-empty))

(holding ?ob1)))

Instead of defining: pickup-A and pickup-B and …