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# Spectra # Spectra
```clojure
;; (removeFrom ?x ?y) => "Remove ?x from ?y"
;; (placeInside ?x ?y) ==> "Place ?x inside ?y"
(define-method planMethod [?b ?c ?d]
{:goal [(In ?b ?c) (In ?c ?d)]
:while [(In ?b ?d) (Empty ?c)
(< (size ?c) (size ?d))
(< (size ?b) (size ?c))]
:actions [(removeFrom ?b ?d) (placeInside ?b ?c) (placeInside ?c ?d)]})
Roughly, a method has conditions that the goal and background + start state should satisfy. If the conditions are satisfied, a plan template is generated (note the variables).
The planner then verifies if the plan template works, if so it outputs the plan.
```