The Object Centered Language Manual
OCLh - Version1.2

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4. Task Specification

After a domain model has been built up, we can compose task specifications for a planner to solve. The form of a task specification depends on the planner used. Normally it is an initial state together with some goals to achieve and/or some high level tasks to perform.

For example, it could have the form planner_task(goal, initial-state), where a goal is a list of object expressions, as in the following task:

          [se(gripper,g, [free(g)]),
           se(block,b1,[on_block(b1,b3)]) ],
          [ss(gripper, g,[free(g)]),

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