In this paper we develop a high level action description language that mirrors the solution to the frame problem for sensing actions in situation calculus developed by Scherl and Levesque. This is similar to the role the language plays w.r.t. non-sensing actions. In defining the semantics we introduce the notion of a knowledge state which is a pair consisting of a state and a collection of states. The transition function is defined in such a way that it mirrors the successor state axiom for sensing actions by Scherl and Levesque. We then present a sound and complete translation of domains into disjunctive logic programs. Most importantly, using the new language we are able to prove the soundness of different approximation semantics that were developed by Baral and Son w.r.t. the semantics of Scherl and Levesque.