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STRIPS

      result(s , ‹a› ) = ( s ∪ add(a)) \ del(a)
          = ( on(A , B) ^ handEmpty ^ clear(A ) ∪ holding(x ) ^ clear(y )) \ on(x , y ) ^ handEmpty ^ clear(x )
          = holding(A ) ^ clear(B )
      Precondition on(x , y ) ^ handEmpty ^ clear(x ) is fulfilled in state s = on(A , B) ^ handEmpty ^ clear(A )

    For convenience let’s denote result(s , ‹a› ) with s1

    Given a second action a1
    action a1 = stack (x,y)
          Preconditions : hoding(x) ^ clear(y)
          Add List : on(x,y) ^ handEmpty ^ clear(x)
          Delete List : holding(x) ^ clear(y)

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