USING PDDL, PROVIDE A STRIPS DOMAIN like the example below.

(define (domain barman) (:requirements :strips :typing) (:types hand level beverage dispenser container - object ingredient cocktail - beverage shot shaker - container) (:predicates (ontable ?c - container) (holding ?h - hand ?c - container) (handempty ?h - hand) (empty ?c - container) (contains ?c - container ?b - beverage) (clean ?c - container) (used ?c - container ?b - beverage) (dispenses ?d - dispenser ?i - ingredient) (shaker-empty-level ?s - shaker ?l - level) (shaker-level ?s - shaker ?l - level) (next ?l1 ?l2 - level) (unshaked ?s - shaker) (shaked ?s - shaker) (cocktail-part1 ?c - cocktail ?i - ingredient) (cocktail-part2 ?c - cocktail ?i - ingredient)) (:action grasp :parameters (?h - hand ?c - container) :precondition (and (ontable ?c) (handempty ?h)) :effect (and (not (ontable ?c)) (not (handempty ?h)) (holding ?h ?c)))

(:action leave :parameters (?h - hand ?c - container) :precondition (holding ?h ?c) :effect (and (not (holding ?h ?c)) (handempty ?h) (ontable ?c))) (:action fill-shot :parameters (?s - shot ?i - ingredient ?h1 ?h2 - hand ?d - dispenser) :precondition (and (holding ?h1 ?s) (handempty ?h2) (dispenses ?d ?i) (empty ?s) (clean ?s)) :effect (and (not (empty ?s)) (contains ?s ?i) (not (clean ?s)) (used ?s ?i)))

(:action refill-shot :parameters (?s - shot ?i - ingredient ?h1 ?h2 - hand ?d - dispenser) :precondition (and (holding ?h1 ?s) (handempty ?h2) (dispenses ?d ?i) (empty ?s) (used ?s ?i)) :effect (and (not (empty ?s)) (contains ?s ?i)))

(:action empty-shot :parameters (?h - hand ?p - shot ?b - beverage) :precondition (and (holding ?h ?p) (contains ?p ?b)) :effect (and (not (contains ?p ?b)) (empty ?p)))

(:action clean-shot :parameters (?s - shot ?b - beverage ?h1 ?h2 - hand) :precondition (and (holding ?h1 ?s) (handempty ?h2) (empty ?s) (used ?s ?b)) :effect (and (not (used ?s ?b)) (clean ?s)))

(:action pour-shot-to-clean-shaker :parameters (?s - shot ?i - ingredient ?d - shaker ?h1 - hand ?l ?l1 - level) :precondition (and (holding ?h1 ?s) (contains ?s ?i) (empty ?d) (clean ?d) (shaker-level ?d ?l) (next ?l ?l1)) :effect (and (not (contains ?s ?i)) (empty ?s) (contains ?d ?i) (not (empty ?d)) (not (clean ?d)) (unshaked ?d) (not (shaker-level ?d ?l)) (shaker-level ?d ?l1)))

(:action pour-shot-to-used-shaker :parameters (?s - shot ?i - ingredient ?d - shaker ?h1 - hand ?l ?l1 - level) :precondition (and (holding ?h1 ?s) (contains ?s ?i) (unshaked ?d) (shaker-level ?d ?l) (next ?l ?l1)) :effect (and (not (contains ?s ?i)) (contains ?d ?i) (empty ?s) (not (shaker-level ?d ?l)) (shaker-level ?d ?l1)))

(:action empty-shaker :parameters (?h - hand ?s - shaker ?b - cocktail ?l ?l1 - level) :precondition (and (holding ?h ?s) (contains ?s ?b) (shaked ?s) (shaker-level ?s ?l) (shaker-empty-level ?s ?l1)) :effect (and (not (shaked ?s)) (not (shaker-level ?s ?l)) (shaker-level ?s ?l1) (not (contains ?s ?b)) (empty ?s)))

(:action clean-shaker :parameters (?h1 ?h2 - hand ?s - shaker) :precondition (and (holding ?h1 ?s) (handempty ?h2) (empty ?s)) :effect (and (clean ?s))) (:action shake :parameters (?b - cocktail ?d1 ?d2 - ingredient ?s - shaker ?h1 ?h2 - hand) :precondition (and (holding ?h1 ?s) (handempty ?h2) (contains ?s ?d1) (contains ?s ?d2) (cocktail-part1 ?b ?d1) (cocktail-part2 ?b ?d2) (unshaked ?s)) :effect (and (not (unshaked ?s)) (not (contains ?s ?d1)) (not (contains ?s ?d2)) (shaked ?s) (contains ?s ?b)))

(:action pour-shaker-to-shot :parameters (?b - beverage ?d - shot ?h - hand ?s - shaker ?l ?l1 - level) :precondition (and (holding ?h ?s) (shaked ?s) (empty ?d) (clean ?d) (contains ?s ?b) (shaker-level ?s ?l) (next ?l1 ?l)) :effect (and (not (clean ?d)) (not (empty ?d)) (contains ?d ?b) (shaker-level ?s ?l1) (not (shaker-level ?s ?l)))) )

Action (or task) planning Consider the Crazy Frog puzzle: A little frog is located in an n xn land, with few obstacles and a lot of insects. The frog can jump in any length in four cardinal directions and cannot land on any obstacles or already visited places. The frog eats insects whenever it lands on them. The goal is to eat all insects in the land. The input corresponds to a n x n grid where F specifies the initial location of the frog, O's denote insects and ls denote obstacles. For example, the sample input on Figure la, corresponds to the land specified in Figure 1b: 00001 10110 00001 OF000 00000 (a) Sample input (b) Sample land Formalize the domain above in STRIPS or ADL, prepare two different instances of the puzzle and use the planner FASTDOWNWARD? to solve your instances. Submit the STRIPS/ADL description of the domain (i.e., operators) presented to the planner, corre- sponding planning problems of your instances, and the input and output of the planner