DRILL PRESS TYPE HIERARCHY <dnill-bit> PART DRILL-BIT part> SPOT-DRILL TWIST-DRILL drill-spot(<part>, <drill-bit>) put-drill-bit(<drill-bit>) put-part(spart) art>:type PART <drill-bit: type DRILL-BIT art:type PART drill-bit>: type SPOT-DRILL Pre:(holding-tool <drill-bit>) Pre: tool-holder-empty Pre: part-holder-empty (holding-part <part) Add: (holding-tool <drill-bit>) ddd:(holding-part <drill-bit) Add:(has-spot <part> Del: tool-holder-empty Del. part-holder-empty drill-hole(spart>, <drill-bit> remove-drill-bit(<drill-bit>) remove-part(<part>) part: type PART <drill-bits: type TWIST-DRILL drill-bit: type DRILL-BIT <part>: type PART Pre:(has-s pot spart) Pre:(holding-tool <drill-bit) Pre:(holding-part <drill-bit>) (holding-tool <drill-bit) (holding part <part) Hdd: tool-holder-empty ddd: part-holder-empty Add: (has-hole <part> Del: (holding-tool <drill-bit> Del:(holding-part <drill-bit) Figure 1: A simplified version of the Process Planning domain