Discussion
What is a precondition of an action?
Answer: A
Preconditions gate applicability, so a planner may apply an action only in states satisfying them, and achieving them becomes a subgoal in backward search. Effects describe what becomes true afterwards. Hopes and goal conditions are different notions. Separating what must hold before from what holds after is the whole structure of an action description, and every planning algorithm is organised around that division.
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