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STRIPS

    result(s , ‹a , a1› ) = result(result(s , a ), ‹a1› ) = result(s1, ‹a1› ) = s1 add(a1)) \ del(a1)

        = ((holding (A) ^ clear(B ) holding(x ) ^ on(x,y ) ^ handEmpty ^ clear(x )) \ holding(x ) ^ clear(y )

        = on(A,B ) ^ handEmpty ^ clear(A )

    Precondition hoding(x ) ^ clear(y ) is fulfilled in state s1 = holding(A ) ^ clear(B )


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