STRIPS operators for a robot arm:

1. pickup(x):
   P&D: ontable(x), clear(x), handempty()
   Add: holding(x)
2. putdown(x):
   P&D: holding(x)
   Add: ontable(x), clear(x), handempty()
3. stack(x, y):
   P&D: holding(x), clear(y)
   Add: handempty(), on(x, y), clear(x)
4. unstack(x, y):
   P&D: handempty(), on(x, y), clear(x)
   Add: holding(x), clear(y)

The variables are instantiated to constants by proving the precondition wff.

A world model is a set of wffs, mostly ground clauses:

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

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