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Answer to Question 5 part 1
This action cannot be defined in strips. This is because there isn't
an appropriate addlist.
What you would need is something like:
The addlist of paint_everything(Robot,Color) is
{color(Obj,Color)
: exist P at(Robot,P) &at(Obj,P)}.
This is more complicated
than is allowed in STRIPS (we need the addlist of a state to
depend on the state).