# Block Stacking Robot Actions and PlanningConsider a block stacking robot with the following actions:### Actions:1. **Stack(x, y)** - Preconditions: - Clear(y) - Holding(x) - Effects: - ¬armEmpty - On(x, y) - ¬Clear(y) - ¬Holding(x)2. **Unstack(x, y)** - Preconditions: - Clear(x) - On(x, y) - armEmpty - Effects: - ¬armEmpty - ¬On(x, y) - Clear(y) - Holding(x)3. **Pickup(x)** - Preconditions: - Clear(x) - On(x, TABLE) - armEmpty - Effects: - ¬armEmpty - ¬On(x, TABLE) - Holding(x)4. **Putdown(x)** - Preconditions: - Holding(x) - Effects: - armEmpty - On(x, TABLE) - ¬Holding(x)### Plan Creation:Create a plan for each of the initial state/goal pairs below. Assume `armEmpty` is in the initial state and the table has infinite space.#### a. Transition From Initial State to Goal State:- **Initial State**: B is on the table, A is on the table.- **Goal State**: A is on the table, B is on A.#### b. Transition From Initial State to Goal State:- **Initial State**: A is on the table, B is on A.- **Goal State**: B is on the table, A is on B.#### c. Transition From Initial State to Goal State:- **Initial State**: C is on the table, A is on B (which is on the table).- **Goal State**: A is on the table, B is on C (which is on the table).Each scenario requires planning the sequence of actions (Stack, Unstack, Pickup, Putdown) to achieve the desired goal state from the given initial state while respecting the robot's action constraints and preconditions.

The solution for the above given question is given below:

Consider a block stacking robot with the following actions: 1 Stack(x, y) • Preconditions: Clear(y), Holding(x) • Effects: armEmpty, On(x, y), ¬Clear(y), ¬Holding(x) 1 Unstack(x, y) • Preconditions: Clear(x), On(x, y), armEmpty Effects: narmEmpty, ¬On(x, y), Clear(y), Holding(x) 1 Pickup(x) • Preconditions: Clear(x), On(x, TABLE), armEmpty • Effects: narmEmpty, ¬On(x, TABLE), Holding(x) • Putdown(x) • Preconditions: Holding(x) • Effects: armEmpty, On(x, TABLE), ¬Holding(x) Create a plan for each of the initial state/goal pairs below Assume armEmpty is in initial state and the table has infinite space A Initial state: B A Goal state: В a. A В Initial state: В Goal state: A b. A C B Initial state: A В Goal state: C C.

Consider a block stacking robot with the following actions: 1 Stack(x, y) • Preconditions: Clear(y), Holding(x) • Effects: armEmpty, On(x, y), ¬Clear(y), ¬Holding(x) 1 Unstack(x, y) • Preconditions: Clear(x), On(x, y), armEmpty Effects: narmEmpty, ¬On(x, y), Clear(y), Holding(x) 1 Pickup(x) • Preconditions: Clear(x), On(x, TABLE), armEmpty • Effects: narmEmpty, ¬On(x, TABLE), Holding(x) • Putdown(x) • Preconditions: Holding(x) • Effects: armEmpty, On(x, TABLE), ¬Holding(x) Create a plan for each of the initial state/goal pairs below Assume armEmpty is in initial state and the table has infinite space A Initial state: B A Goal state: В a. A В Initial state: В Goal state: A b. A C B Initial state: A В Goal state: C C.

Computer Networking: A Top-Down Approach (7th Edition)

7th Edition

ISBN:9780133594140

Author:James Kurose, Keith Ross

Publisher:James Kurose, Keith Ross

Chapter1: Computer Networks And The Internet

Section: Chapter Questions

Problem R1RQ: What is the difference between a host and an end system? List several different types of end...

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Question

# Block Stacking Robot Actions and Planning

Consider a block stacking robot with the following actions:

### Actions:

1. **Stack(x, y)**
- Preconditions:
- Clear(y)
- Holding(x)
- Effects:
- ¬armEmpty
- On(x, y)
- ¬Clear(y)
- ¬Holding(x)

2. **Unstack(x, y)**
- Preconditions:
- Clear(x)
- On(x, y)
- armEmpty
- Effects:
- ¬armEmpty
- ¬On(x, y)
- Clear(y)
- Holding(x)

3. **Pickup(x)**
- Preconditions:
- Clear(x)
- On(x, TABLE)
- armEmpty
- Effects:
- ¬armEmpty
- ¬On(x, TABLE)
- Holding(x)

4. **Putdown(x)**
- Preconditions:
- Holding(x)
- Effects:
- armEmpty
- On(x, TABLE)
- ¬Holding(x)

### Plan Creation:

Create a plan for each of the initial state/goal pairs below. Assume `armEmpty` is in the initial state and the table has infinite space.

#### a. Transition From Initial State to Goal State:
- **Initial State**: B is on the table, A is on the table.
- **Goal State**: A is on the table, B is on A.

#### b. Transition From Initial State to Goal State:
- **Initial State**: A is on the table, B is on A.
- **Goal State**: B is on the table, A is on B.

#### c. Transition From Initial State to Goal State:
- **Initial State**: C is on the table, A is on B (which is on the table).
- **Goal State**: A is on the table, B is on C (which is on the table).

Each scenario requires planning the sequence of actions (Stack, Unstack, Pickup, Putdown) to achieve the desired goal state from the given initial state while respecting the robot's action constraints and preconditions.

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