Now assuming a domain with three blocks Domain(block, {1, 2, 3}**), our system will**
generate 19 fluent atoms, and 18 action instances. For each action instance, it returns both a complete set of successor state axioms and a STRIPS-like representation. The total computation time for all actions is 835K inferences and 0.5 seconds.3 **This is a pure STRIPS**
domain, i.e. all actions are context free. For this type of domains, as we mentioned earlier, Step 4 in our implementation procedure is not needed, and Step 5 is easy.

The results are as expected. For instance, for action pickup**(1), the STRIPS-like representation returned by the system looks like the following: track 1 to track 2), the STRIPSlike representation looks like:**
pickup(1):
Preconditions: clear(1), handempty, ontable(1)
Add list: holding(1)
Delete list: ontable(1), clear(1), handempty Conditional effects: Indeterminate effects:
The complete output is given in the online appendix. Now let us consider what happen if we drop ontable(x) from the precondition of **pickup**(x):
Precond(pickup(x), handempty ∧ **clear**(x)).

This means that as long as a block is clear, it can be picked up. **With this new precondition,** our system returns the following STRIPS-like representation for action pickup**(1);** pickup(1):
Preconditions: clear(1), handempty Add list: holding(1) Delete list: clear(1), handempty, on(1, 2), on(1, 3), ontable(1)
Conditional effects:
succ(clear(2))<-> - (init(on(2, 2))\/init(on(3, 2)))
succ(clear(3))<-> - (init(on(2, 3))\/init(on(3, 3)))
Indeterminate effects:
Here "-" is negation, and "\/**" is disjunction. An ADL-like description for this action**
would be something like the following:
pickup(x):
Preconditions: clear(x), handempty Add list: holding(x),
clear(y) when on(x,y)
Delete list: clear(x), handempty, on(x,y) when on(x,y) ontable(x) when ontable(x)