An autonomous agent can wet (using the action wet(Obj,B)) an object Obj by pouring water (from the bucket B) onto that object, as long as the agent is carrying the full bucket at the same location as Obj. Objects stay wet. Suppose we have the predicate is_wet(Obj) that is true if Obj is wet.
cilog: ask achieve(is_wet(parcel),init,S,8,R). Answer: achieve(is_wet(parcel),init, do(wet(parcel,b1), do(move(rob,o109,storage), do(move(rob,o111,o109), do(fill(b1), do(move(rob,o109,o111), do(move(rob,storage,o109), do(pickup(rob,b1,storage), do(move(rob,o109,storage),init)))))))),8,0).