planning with certainty move( , ,ac move( , ,tablea figure blocks world with two actions problem planning_problem(delivery_domain{'rloc':'lab''mw':true'swc':true'rhc':false'rhm':false}{'rloc':'off'}problem planning_problem(delivery_domain{'rloc':'lab''mw':true'swc':true'rhc':false'rhm':false}{'swc':false}problem planning_problem(delivery_domain{'rloc':'lab''mw':true'swc':true'rhc':false'rhm':false}{'swc':false'mw':false'rhm':false}blocks world the blocks world consist of blocks and table each block can be on the table or on another block block can only have one other block on top of it figure shows states with some of the actions between them state is defined by the two featureson where on(xy when block is on block or table clear where clear(xtrue when block has nothing on it there is one parameterized action move(xyzmove block from to zwhere and could be block or the table version june