Identifying Resources
Use definition on goal specification
- Types not specified in goals are resources
Explicitly specify resources
(effects (arm-empty <rob>))
(params (<rob> ROBOT) (<ob> OBJECT) (<underob> OBJECT))
(p1 1 (s1 (PUT-DOWN <rob> <ob>)))
(p2 4 (s1 (STACK <rob> <ob> <underob>))))))
(effects (holding <rob> <ob>))
(params (<rob> ROBOT) (<ob> OBJECT) (<underob> OBJECT))
(p1 1 (s1 (PICK-UP <rob> <ob>)))
(p2 4 (s1 (UNSTACK <rob> <ob> <underob>)))))))