STRIPS
one_step_plan(State,Goals,NewState,Plan) :-
diff(Goals,State,[Goal|Rest]),.
numbervars(Goal,0,0),
rule(Action,Precond,Add,Del,Proc),
member(Goal,Add),
instantiate(Precond,State),
call(Proc),
one_step_plan(State,Precond,State1,Plan1),
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