How to reproduce:
1. Open tester-attached project (VacuumRobot.zip)
2. See AI.Planner/Terminations/Stop.asset and AI.Planner/Plans/Clean.asset
3. Generate Assemblies via AI > Planner > Generate Assemblies

Expected result: assemblies are generated without any errors
Actual result: assembly generation fails with 3 errors

Reproducible with: 2019.3.7f1, 2020.1.0b4, 2020.2.0a5
Could not test with: 2017.4.38f1(package unavailable), 2018.4.20f1(affected package version unavailable)

Reproducible with package versions: preview.2 - 0.2.1, preview.1 - 0.2.2
Could not test with package versions: preview - 0.1.1(package incompatible), preview.4 - 0.2.0(package could not be downloaded)

Notes:
The following errors are thrown:

Temp/PlannerAssembly/AI.Planner.Domains/Stop.cs(50,87): error CS0103: The name 'originalState' does not exist in the current context
UnityEditor.AI.Planner.CodeGen.PlannerAssemblyBuilder:Build () (at Library/PackageCache/com.unity.ai.planner@0.2.2-preview.1/Editor/CodeGen/PlannerAssemblyBuilder.cs:102)

Temp/PlannerAssembly/AI.Planner.Domains/Stop.cs(50,102): error CS0103: The name 'action' does not exist in the current context
UnityEditor.AI.Planner.CodeGen.PlannerAssemblyBuilder:Build () (at Library/PackageCache/com.unity.ai.planner@0.2.2-preview.1/Editor/CodeGen/PlannerAssemblyBuilder.cs:102)

Temp/PlannerAssembly/AI.Planner.Domains/Stop.cs(50,110): error CS0103: The name 'newState' does not exist in the current context
UnityEditor.AI.Planner.CodeGen.PlannerAssemblyBuilder:Build () (at Library/PackageCache/com.unity.ai.planner@0.2.2-preview.1/Editor/CodeGen/PlannerAssemblyBuilder.cs:102)