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