(define (operator pickup)
:parameters   (?al ?x ?y)
:precondition (and (on ?x ?y)(handempty ?al) (clear ?x)(not (= ?x ?y)))
:concurrent   (not (and (pickup ?a2 ?x ?y) (not (= ?a1 ?a2))))
(and (not (handempty ?al)) (not (on ?x ?y)) (holding ?al ?x)))
: effect Pickup concurrent action list negated
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pickup pickup
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(not (and (pickup ?a2 ?x ?y) (not (= ?a1 ?a2))))
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Pickup ?   ?

Pickup ?

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