;;; ;;; We have 2 glasses at N-0-0. We want to get them to N-1-1 unbroken. ;;; (define (problem p3) (:domain simple-domain) (:objects N-0-0 N-0-1 G1 B1 G2 D1 the-BOX R1) (:init (truck-at N-0-0) (at G1 N-0-0) (at B1 N-0-1) (at G2 N-0-0) (dump-at D1 N-0-0) (at the-BOX N-0-0) (glass G1) (glass G2) (box the-BOX) (bomb B1) (g-dumpster D1) (location N-0-0) (location N-0-1) (road R1 N-0-1 N-0-0) (road R1 N-0-0 N-0-1) (bumpy R1) (liftable the-box) (liftable G1) (liftable G2) (not (broken G1)) (not (broken G2))) ; (:rank-fun truck-rank-func) (:goal (and (at G1 N-0-1) (at G2 N-0-1) (not (broken G1)) (not (broken G2))))) ;UCPOP(444): (bf-control 'p3) ; ;Initial : ((TRUCK-AT N-0-0) (AT G1 N-0-0) (AT B1 N-0-1) (AT G2 N-0-0) (DUMP-AT D1 N-0-0) ; (AT BOX N-0-0) (GLASS G1) (GLASS G2) (BOX BOX) (BOMB B1) ; (G-DUMPSTER D1) (LOCATION N-0-0) (LOCATION N-0-1) (ROAD R1 N-0-1 N-0-0) ; (ROAD R1 N-0-0 N-0-1) (BUMPY R1) (LIFTABLE BOX) (LIFTABLE G1) ; (LIFTABLE G2) (NOT (BROKEN G1)) (NOT (BROKEN G2))) ; ;Step 1 : (PICKUP G2 N-0-0) Created 10 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G2) ; 0 -> (AT G2 N-0-0) ;Step 2 : (PUTIN G2 BOX) Created 9 ; 0 -> (BOX BOX) ; 10 -> (HOLDING G2) ;Step 3 : (PICKUP BOX N-0-0) Created 3 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE BOX) ; 0 -> (AT BOX N-0-0) ;Step 4 : (PICKUP G1 N-0-0) Created 5 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G1) ; 0 -> (AT G1 N-0-0) ;Step 5 : (PUTIN G1 BOX) Created 4 ; 0 -> (BOX BOX) ; 5 -> (HOLDING G1) ;Step 6 : (TRAVEL N-0-0 N-0-1 R1) Created 6 ; 9 -> (NOT (HOLDING G2)) ; 4 -> (NOT (HOLDING G1)) ; 0 -> (NOT (FUEL-EMPTY)) ; 0 -> (NOT (TOLLED R1)) ; 0 -> (ROAD R1 N-0-0 N-0-1) ; 0 -> (LOCATION N-0-1) ; 0 -> (TRUCK-AT N-0-0) ;Step 7 : (TAKEOUT BOX G2 N-0-1) Created 8 ; 6 -> (TRUCK-AT N-0-1) ; 9 -> (IN G2 BOX) ; 0 -> (BOX BOX) ; 3 -> (HOLDING BOX) ;Step 8 : (TAKEOUT BOX G1 N-0-1) Created 2 ; 6 -> (TRUCK-AT N-0-1) ; 4 -> (IN G1 BOX) ; 0 -> (BOX BOX) ; 3 -> (HOLDING BOX) ;Step 9 : (PUTDOWN G2 G2 N-0-1) Created 7 ; 6 -> (TRUCK-AT N-0-1) ; 8 -> (HOLDING G2) ; 0 -> (LIFTABLE G2) ;Step 10 : (PUTDOWN G1 G1 N-0-1) Created 1 ; 6 -> (TRUCK-AT N-0-1) ; 2 -> (HOLDING G1) ; 0 -> (LIFTABLE G1) ; ;Goal : (AND (AT G1 N-0-1) (AT G2 N-0-1) (NOT (BROKEN G1)) (NOT (BROKEN G2))) ; 0 -> (NOT (BROKEN G2)) ; 0 -> (NOT (BROKEN G1)) ; 7 -> (AT G2 N-0-1) ; 1 -> (AT G1 N-0-1) ;Facts: ;Complete! ; ;UCPOP Stats: Initial terms = 21; Goals = 5 ; Success (10 steps) ; Created 487 plans, but explored only 338 ; CPU time: 6.4660 sec ; Branching factor: 37.266 ; Working Unifies: 1160 ; Bindings Added: 276 ;#plan ;#