(define (problem prodigy-p22) ; graphplan 12 steps ;; Relatively hard. Requires 12 steps and takes graphplan 20 seconds. ;; (unstack c d) (put-down c) (unstack d e) (put-down d) ;; (unstack e f) (put-down e) (unstack f g) (stack f a) (unstack c b) ;; (stack c d) (pick-up b) (stack b c) (:domain prodigy-bw) (:objects A B C D E F G) (:init (on-table A) (clear A) (on-table B) (clear B) (on-table G) (on F G) (on E F) (on D E) (on C D) (clear C) (arm-empty)) (:goal (and (on B C) (on-table A) (on F A) (on C D))) )