(define (problem mcd-sussman-anomaly) (:domain mcd-blocksworld) (:objects A B C) (:init (block A) (block B) (block C) (block Table) (on c a) (on b table) (on a table)) (:goal (and (on b c) (on a b)))) ;;;UCPOP(41): (bf-control 'mcd-sussman-anomaly) ;;; ;;;Initial : ((BLOCK A) (BLOCK B) (BLOCK C) (BLOCK TABLE) (ON C A) (ON B TABLE) ;;; (ON A TABLE)) ;;; ;;;Step 1 : (PUTON C TABLE A) Created 2 ;;; 0 -> (ON C A) ;;; 0 -> (NOT (ON TABLE C)) ;;; 0 -> (NOT (ON C C)) ;;; 0 -> (NOT (ON B C)) ;;; 0 -> (NOT (ON A C)) ;;;Step 2 : (PUTON B C TABLE) Created 3 ;;; 0 -> (ON B TABLE) ;;; 0 -> (NOT (ON TABLE B)) ;;; 0 -> (NOT (ON C B)) ;;; 0 -> (NOT (ON B B)) ;;; 0 -> (NOT (ON A B)) ;;; 0 -> (NOT (ON TABLE C)) ;;; 0 -> (NOT (ON C C)) ;;; 0 -> (NOT (ON B C)) ;;; 0 -> (NOT (ON A C)) ;;;Step 3 : (PUTON A B TABLE) Created 1 ;;; 0 -> (ON A TABLE) ;;; 0 -> (NOT (ON TABLE A)) ;;; 2 -> (NOT (ON C A)) ;;; 0 -> (NOT (ON B A)) ;;; 0 -> (NOT (ON A A)) ;;; 0 -> (NOT (ON TABLE B)) ;;; 0 -> (NOT (ON C B)) ;;; 0 -> (NOT (ON B B)) ;;; 0 -> (NOT (ON A B)) ;;; ;;;Goal : (AND (ON B C) (ON A B)) ;;; 3 -> (ON B C) ;;; 1 -> (ON A B) ;;;Complete! ;;; ;;;UCPOP (Init = 7 ; Goals = 3 ) => Win (3 steps) CPU 400 ;;; Nodes (V = 54 ; Q = 25 ; C = 101 ) Branch 1.462963 ;;; Working Unifies: 976 Bindings added: 163 ;;;NIL