(define (domain blocksworld)

(:requirements :strips :typing)

(:types block table)

(:action move

:parameters (?b - block ?t1 - table ?t2 - table)

:precondition (and (block ?b) (table ?t1) (table ?t2) (on ?b ?t1) not (on ?b ?t2) (clear ?b))

:effect (and (on ?b ?t2)) (not (on ?b ?t1))))

(:action stack

:parameters (?a - block ?b - block ?t1 - table)

:precondition (and (block ?a) (block ?b) (table ?t1) (clear ?a) (clear ?b) (on ?a ?t1) (on ?b ?t1))

:effect (and (on ?a ?b) not (on ?a ?t1) not (clear ?b))

)

(:action unstack

:parameters (?a - block ?b - block ?t1 - table)

:precondition (and (block ?a) (block ?b) (table ?t1) (on ?b ?t1) (clear ?a) (on ?a ?b))

:effect (and (on ?a ?t1) not (on ?a ?b) (clear ?b))

)

)