for (feat,domin prob_domain feature_domain_dict items() initial state constraintsconstraints [constraint((feat_time_var[feat][ ],)is_(val)for (feat,valin initial_state items() goal constraints on the final stateconstraints +[constraint((feat_time_var[feat][number_stages],)is_(val)for (feat,valin goal items() precondition constraintsconstraints +[constraint((feat_time_var[feat][ ]self action_vars[ ])if_(val,act)feat@ ==val if action@ ==act for act in prob_domain actions for (feat,valin act preconds items(for in range(number_stages) effect constraintsconstraints +[constraint((feat_time_var[feat][ + ]self action_vars[ ])if_(val,act)feat@ + ==val if action@ ==act for act in prob_domain actions for feat,val in act effects items(for in range(number_stages)frame constraints constraints +[constraint((feat_time_var[feat][ ]self action_vars[ ]feat_time_var[feat][ + ])eq_if_not_in_({act for act in prob_domain actions if feat in act effects})for feat in prob_domain feature_domain_dict for in range(number_stagesvariables set(self action_vars{feat_time_var[feat][tfor feat in prob_domain feature_domain_dict for in range(number_stages+ )csp __init__(selfvariablesconstraints def extract_plan(self,soln)return [soln[afor in self action_varsthe following methods return methods which can be applied to the particular environment for exampleis ( returns function that when applied to returns true and when applied to any other value returns false so is ( )( returns true version june