(define (problem monkey-test1) (:domain monkey-domain) (:objects p1 p2 p3 p4) (:init (location p1) (location p2)(location p3)(location p4) (at monkey p1)(on-floor)(at box p2)(at bananas p3) (at knife p4)) (:goal (AND (hasbananas))) (:length (:serial 6) (:parallel 6)) ) ;;;UCPOP(32): (bf-control 'monkey-test1) ;;; ;;;Initial : ((LOCATION P1) (LOCATION P2) (LOCATION P3) (LOCATION P4) ;;; (AT MONKEY P1) (ON-FLOOR) (AT BOX P2) (AT BANANAS P3) ;;; (AT KNIFE P4)) ;;; ;;;Step 1 : (GO-TO P4 P1) Created 5 ;;; 0 -> (ON-FLOOR) ;;; 0 -> (AT MONKEY P1) ;;;Step 2 : (GET-KNIFE P4) Created 6 ;;; 0 -> (AT KNIFE P4) ;;; 5 -> (AT MONKEY P4) ;;;Step 3 : (GO-TO P2 P4) Created 4 ;;; 0 -> (ON-FLOOR) ;;; 5 -> (AT MONKEY P4) ;;;Step 4 : (PUSH-BOX P3 P2) Created 3 ;;; 0 -> (AT BOX P2) ;;; 4 -> (AT MONKEY P2) ;;; 0 -> (ON-FLOOR) ;;;Step 5 : (CLIMB P3) Created 2 ;;; 3 -> (AT BOX P3) ;;; 3 -> (AT MONKEY P3) ;;;Step 6 : (GRAB-BANANAS P3) Created 1 ;;; 6 -> (HASKNIFE) ;;; 0 -> (AT BANANAS P3) ;;; 2 -> (ONBOX P3) ;;; ;;;Goal : (HASBANANAS) ;;; 1 -> (HASBANANAS) ;;;Complete! ;;; ;;;UCPOP (Init = 9 ; Goals = 1 ) => Win (6 steps) CPU 850 ;;; Nodes (V = 66 ; Q = 26 ; C = 103 ) Branch 1.3939394 ;;; Working Unifies: 875 Bindings added: 101 ;;;NIL