;;; ------------------------------------- ;;; TEST RUNS of SGP and UCPOP ;;; Dec. 2, 2002 ;;; ------------------------------------- * (bf-control 'fixit) Initial : ((WHEEL WHEEL1) (WHEEL WHEEL2) (HUB HUB) (NUT NUTS) (CONTAINER BOOT) (INTACT WHEEL2) (IN JACK BOOT) (IN PUMP BOOT) (IN WHEEL2 BOOT) (IN WRENCH BOOT) (ON WHEEL1 HUB) (ON-GROUND HUB) (TIGHT NUTS HUB)) Step 1 : (OPEN-CONTAINER BOOT) Created 2 0 -> (NOT (OPEN BOOT)) 0 -> (NOT (LOCKED BOOT)) 0 -> (CONTAINER BOOT) Step 2 : (FETCH WHEEL2 BOOT) Created 17 2 -> (OPEN BOOT) 0 -> (IN WHEEL2 BOOT) 0 -> (CONTAINER BOOT) Step 3 : (FETCH PUMP BOOT) Created 8 2 -> (OPEN BOOT) 0 -> (IN PUMP BOOT) 0 -> (CONTAINER BOOT) Step 4 : (INFLATE WHEEL2) Created 15 0 -> (INTACT WHEEL2) 0 -> (NOT (INFLATED WHEEL2)) 8 -> (HAVE PUMP) 0 -> (WHEEL WHEEL2) Step 5 : (FETCH WRENCH BOOT) Created 12 2 -> (OPEN BOOT) 0 -> (IN WRENCH BOOT) 0 -> (CONTAINER BOOT) Step 6 : (LOOSEN NUTS HUB) Created 13 0 -> (ON-GROUND HUB) 0 -> (TIGHT NUTS HUB) 12 -> (HAVE WRENCH) 0 -> (HUB HUB) 0 -> (NUT NUTS) Step 7 : (PUT-AWAY PUMP BOOT) Created 7 2 -> (OPEN BOOT) 8 -> (HAVE PUMP) 0 -> (CONTAINER BOOT) Step 8 : (FETCH JACK BOOT) Created 6 2 -> (OPEN BOOT) 0 -> (IN JACK BOOT) 0 -> (CONTAINER BOOT) Step 9 : (JACK-UP HUB) Created 5 6 -> (HAVE JACK) 0 -> (ON-GROUND HUB) 0 -> (HUB HUB) Step 10 : (REMOVE-NUTS NUTS HUB) Created 11 13 -> (LOOSE NUTS HUB) 12 -> (HAVE WRENCH) 0 -> (NOT (UNFASTENED HUB)) 5 -> (NOT (ON-GROUND HUB)) 0 -> (HUB HUB) 0 -> (NUT NUTS) Step 11 : (REMOVE-WHEEL WHEEL1 HUB) Created 10 11 -> (UNFASTENED HUB) 0 -> (ON WHEEL1 HUB) 5 -> (NOT (ON-GROUND HUB)) 0 -> (HUB HUB) 0 -> (WHEEL WHEEL1) Step 12 : (PUT-ON-WHEEL WHEEL2 HUB) Created 16 5 -> (NOT (ON-GROUND HUB)) 11 -> (UNFASTENED HUB) 10 -> (FREE HUB) 17 -> (HAVE WHEEL2) 0 -> (HUB HUB) 0 -> (WHEEL WHEEL2) Step 13 : (PUT-AWAY WRENCH BOOT) Created 14 2 -> (OPEN BOOT) 12 -> (HAVE WRENCH) 0 -> (CONTAINER BOOT) Step 14 : (PUT-AWAY WHEEL1 BOOT) Created 9 2 -> (OPEN BOOT) 10 -> (HAVE WHEEL1) 0 -> (CONTAINER BOOT) Step 15 : (JACK-DOWN HUB) Created 4 5 -> (NOT (ON-GROUND HUB)) 0 -> (HUB HUB) Step 16 : (PUT-AWAY JACK BOOT) Created 3 2 -> (OPEN BOOT) 4 -> (HAVE JACK) 0 -> (CONTAINER BOOT) Step 17 : (CLOSE-CONTAINER BOOT) Created 1 2 -> (OPEN BOOT) 0 -> (CONTAINER BOOT) Goal : (AND (NOT (OPEN BOOT)) (IN JACK BOOT) (IN PUMP BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (INFLATED WHEEL2) (ON WHEEL2 HUB)) 16 -> (ON WHEEL2 HUB) 15 -> (INFLATED WHEEL2) 14 -> (IN WRENCH BOOT) 9 -> (IN WHEEL1 BOOT) 7 -> (IN PUMP BOOT) 3 -> (IN JACK BOOT) 1 -> (NOT (OPEN BOOT)) Facts: Complete! UCPOP Stats: Initial terms = 13, Goals = 8 , Success (17 steps) Created 37098 plans, but explored only 23447 CPU time: 25.3400 sec Branching factor: 1.359 Working Unifies: 133196 Bindings Added: 31025 #plan #Stats: * (bf-control 'tower-invert6) Initial : ((BLOCK A) (BLOCK B) (BLOCK C) (BLOCK D) (BLOCK E) (BLOCK F) (BLOCK TABLE) (ON A B) (ON B C) (ON C D) (ON D E) (ON E F) (ON F TABLE) (CLEAR A) (CLEAR TABLE)) Step 1 : (PUTON A TABLE B) Created 2 0 -> (CLEAR TABLE) 0 -> (CLEAR A) 0 -> (ON A B) Step 2 : (PUTON B A C) Created 1 0 -> (CLEAR A) 2 -> (CLEAR B) 0 -> (ON B C) Step 3 : (PUTON C B D) Created 3 2 -> (CLEAR B) 1 -> (CLEAR C) 0 -> (ON C D) Step 4 : (PUTON D C E) Created 4 1 -> (CLEAR C) 3 -> (CLEAR D) 0 -> (ON D E) Step 5 : (PUTON E D F) Created 5 3 -> (CLEAR D) 4 -> (CLEAR E) 0 -> (ON E F) Step 6 : (PUTON F E TABLE) Created 6 4 -> (CLEAR E) 5 -> (CLEAR F) 0 -> (ON F TABLE) Goal : (AND (ON B A) (ON C B) (ON D C) (ON E D) (ON F E)) 6 -> (ON F E) 5 -> (ON E D) 4 -> (ON D C) 3 -> (ON C B) 1 -> (ON B A) Facts: Complete! UCPOP Stats: Initial terms = 15, Goals = 6 , Success (6 steps) Created 65 plans, but explored only 35 CPU time: 0.0300 sec Branching factor: 1.714 Working Unifies: 741 Bindings Added: 209 #plan #Stats: * (in-package domains) # * (load-domains "blocks-world") ; Loading #p"/home/hunsberg/courses/harvard-cs182/assignments/asst5/files/blocks-world.pddl". T * (gp:plan 'tower-invert6) Operators are ground at graph expansion time Dynamic variable ordering is enabled Least preconditional action ordering is enabled Levels 1 72 actions 73 propositions 12 action mutexes 18 proposition mutexes 2 82 actions 78 propositions 192 action mutexes 82 proposition mutexes 3 106 actions 84 propositions 1362 action mutexes 138 proposition mutexes 4 163 actions 92 propositions 8006 action mutexes 230 proposition mutexes 5 272 actions 102 propositions 35638 action mutexes 400 proposition mutexes 6 444 actions 112 propositions 117714 action mutexes 584 proposition mutexes MUTEX TOTALS FOR ALL LEVELS: 162924 action mutexes 1452 proposition mutexes 164376 total mutexes (((PUTON A TABLE B)) ((PUTON B A C)) ((PUTON C B D)) ((PUTON D C E)) ((PUTON E D F)) ((PUTON F E TABLE))) * (load-domains "tire-world") ; Loading #p"/home/hunsberg/courses/harvard-cs182/assignments/asst5/files/tire-world.pddl". T * (gp:plan 'fixit) Operators are ground at graph expansion time Dynamic variable ordering is enabled Least preconditional action ordering is enabled Levels 1 66 actions 66 propositions 2 action mutexes 2 proposition mutexes 2 72 actions 74 propositions 52 action mutexes 50 proposition mutexes 3 91 actions 82 propositions 244 action mutexes 64 proposition mutexes 4 97 actions 82 propositions 296 action mutexes 48 proposition mutexes 5 98 actions 85 propositions 306 action mutexes 100 proposition mutexes 6 104 actions 89 propositions 528 action mutexes 136 proposition mutexes 7 112 actions 91 propositions 748 action mutexes 124 proposition mutexes 8 116 actions 91 propositions 790 action mutexes 98 proposition mutexes 9 116 actions 91 propositions 722 action mutexes 94 proposition mutexes 10 116 actions 91 propositions 714 action mutexes 94 proposition mutexes MUTEX TOTALS FOR ALL LEVELS: 4402 action mutexes 810 proposition mutexes 5212 total mutexes (((OPEN-CONTAINER BOOT)) ((FETCH WRENCH BOOT) (FETCH PUMP BOOT) (FETCH WHEEL2 BOOT) (FETCH JACK BOOT)) ((LOOSEN NUTS HUB) (INFLATE WHEEL2)) ((PUT-AWAY PUMP BOOT) (JACK-UP HUB)) ((REMOVE-NUTS NUTS HUB)) ((PUT-AWAY WRENCH BOOT) (REMOVE-WHEEL WHEEL1 HUB)) ((PUT-AWAY WHEEL1 BOOT) (PUT-ON-WHEEL WHEEL2 HUB)) ((JACK-DOWN HUB)) ((PUT-AWAY JACK BOOT)) ((CLOSE-CONTAINER BOOT))) *