This section gives the complete definition of the process planning domain used in the empirical evaluation. This definition consists of the concrete problem solving domain, the abstract problem solving domain, and the generic abstraction theory. Each problem solving domain is described by a set of essential sentences, a set of operator descriptions, and a set of static Horn rules.
All anonymous variables are different.
These predicates have the obvious semantics. The first argument specifies the name and the parameters of the operator, the second argument is a list of predicates interpreted as the precondition of the operator. The third argument is the delete list and the fourth argument specifies the add list.