STRIPS
%% instantiate(+Preconds,+State) -
% Looking for partial instantiations (by member(Goal,Add))
instantiate([],_) :- !.
instantiate([X|T],L) :-
\+ (functor(X,_,N),numbervars(X,0,N)),
% not all variables free
member(X,L), !,
instantiate(T,L).
instantiate([_|T],L) :-
instantiate(T,L).
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