STRIPS
% rule(Action,Preconditions,Adds,Deletes,Procedure)
rule(puton(X,Y),
[clear(X),on(X,Z),clear(Y)],
[on(X,Y),clear(Z)],
[clear(Y),on(X,Z)],
(nonvar(X),nonvar(Y),nonvar(Z),X\==Y,Y\==Z,X\==Z)).
Z
Y
X
старо състояние
ново състояние
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