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(OP)
the output of this algorithm is garbage, like this
[_G319, _G322][_G360, _G363, _G366][_G360, _G363, _G366]
any one can help to get the real result.

%-- begining of code
domain(gripper,[strips],_G3058,_G3059,[room(R),ball(B),gripper(G),at_robby(R),at(B,R),free(G),carry(O,G)],_G3061,_G3059,[action(move,[From,To],[room(From),room(To),at_robby(From)],[at_robby(To)],[at_robby(From)],[]),action(pick,[Obj,Room,Gripper],[ball(Obj),room(Room),gripper(Gripper),at(Obj,Room),at_robby(Room),free(Gripper)],[carry(Obj,Gripper)],[at(Obj,Room),free(Gripper)],[]),action(drop,[Obj,Room,Gripper],[ball(Obj),room(Room),gripper(Gripper),carry(Obj,Gripper),at_robby(Room)],[at(Obj,Room),free(Gripper)],[carry(Obj,Gripper)],[])]).

goo :- domain(_,_,_,_,_,_,_,A), printActionNames(A).
actionPar([]).
actionPar([action(_,AP,_,_,_,_)|T]) :- write(AP),actionPar(T).
gooo:- domain(_,_,_,_,_,_,_,A),actionPar(A).
%-- end

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