Lunar 1 [3] UCPOP(30): (ibf-control 'lunar1) Warning: Search limit exceeded Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 5) (BLOCKED E 5) (AT YELLOW D 4) (BLOCKED D 4) (AT PURPLE C 2) (BLOCKED C 2) (AT GREEN B 3) (BLOCKED B 3) (AT ORANGE A 5) (BLOCKED A 5) (CLEAR A 1) (CLEAR A 2) (CLEAR A 3) (CLEAR A 4) (CLEAR B 1) (CLEAR B 2) (CLEAR B 4) (CLEAR B 5) (CLEAR C 1) (CLEAR C 3) (CLEAR C 4) (CLEAR C 5) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 5) (CLEAR E 1) (CLEAR E 2) (CLEAR E 3) (CLEAR E 4)) Step 1 : (MOVECOLDOWNATOB RED 2) Created 4 0 -> (COL 2) 0 -> (OBJECT RED) ?? -> (AT RED A 2) ?? -> (BLOCKED C 2) ?? -> (CLEAR B 2) Step 2 : (MOVECOLUPETOB RED 5) Created 3 0 -> (CLEAR D 5) 0 -> (CLEAR C 5) 0 -> (CLEAR B 5) 0 -> (BLOCKED A 5) 0 -> (AT RED E 5) 0 -> (COL 5) 0 -> (OBJECT RED) Step 3 : (MOVEROWLEFT5TO3 RED B) Created 2 4 -> (BLOCKED B 2) 3 -> (AT RED B 5) 0 -> (ROW B) 0 -> (OBJECT RED) ?? -> (CLEAR B 4) ?? -> (CLEAR B 3) Step 4 : (MOVECOLDOWNBTOC RED 3) Created 1 2 -> (AT RED B 3) 0 -> (COL 3) 0 -> (OBJECT RED) ?? -> (BLOCKED D 3) ?? -> (CLEAR C 3) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: UCPOP Stats: Initial terms = 45; Goals = 4 ; Failure (4 steps) Created 2002 plans, but explored only 857 CPU time: 0.3900 sec Branching factor: 2.335 Working Unifies: 24399 Bindings Added: 2780 #plan #Stats: [3] UCPOP(31): (ibf-control 'lunar1) Warning: Search limit exceeded Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 5) (BLOCKED E 5) (AT YELLOW D 4) (BLOCKED D 4) (AT PURPLE C 2) (BLOCKED C 2) (AT GREEN B 3) (BLOCKED B 3) (AT ORANGE A 5) (BLOCKED A 5) (CLEAR A 1) (CLEAR A 2) (CLEAR A 3) (CLEAR A 4) (CLEAR B 1) (CLEAR B 2) (CLEAR B 4) (CLEAR B 5) (CLEAR C 1) (CLEAR C 3) (CLEAR C 4) (CLEAR C 5) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 5) (CLEAR E 1) (CLEAR E 2) (CLEAR E 3) (CLEAR E 4)) Step 1 : (MOVEROWRIGHT1TO3 RED D) Created 2 0 -> (OBJECT RED) ?? -> (ROW D) ?? -> (AT RED D 1) ?? -> (BLOCKED D 4) ?? -> (CLEAR D 2) ?? -> (CLEAR D 3) ?? -> (CLEAR D 3) Step 2 : (MOVECOLUPDTOC RED 3) Created 1 2 -> (AT RED D 3) 0 -> (COL 3) 0 -> (OBJECT RED) ?? -> (BLOCKED B 3) ?? -> (CLEAR C 3) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: UCPOP Stats: Initial terms = 45; Goals = 4 ; Failure (2 steps) Created 2002 plans, but explored only 788 CPU time: 0.2600 sec Branching factor: 0.000 Working Unifies: 21063 Bindings Added: 2918 #plan #Stats: [3] UCPOP(32): (*search-limit*) Error: attempt to call `*SEARCH-LIMIT*' which is an undefined function. [condition type: UNDEFINED-FUNCTION] Restart actions (select using :continue): 0: Try calling *SEARCH-LIMIT* again. 1: Return a value instead of calling *SEARCH-LIMIT*. 2: Try calling a function other than *SEARCH-LIMIT*. 3: Setf the symbol-function of *SEARCH-LIMIT* and call it again. 4: Return to Debug Level 3 (an "abort" restart). 5: Return to Debug Level 2 (an "abort" restart). 6: Abort entirely from this process. [4] UCPOP(33): *search-limit* 2000 [4] UCPOP(34): (setq *search-limit* 1000000000000000) 1000000000000000 [4] UCPOP(37): (ibf-control 'lunar1) Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 5) (BLOCKED E 5) (AT YELLOW D 4) (BLOCKED D 4) (AT PURPLE C 2) (BLOCKED C 2) (AT GREEN B 3) (BLOCKED B 3) (AT ORANGE A 5) (BLOCKED A 5) (CLEAR A 1) (CLEAR A 2) (CLEAR A 3) (CLEAR A 4) (CLEAR B 1) (CLEAR B 2) (CLEAR B 4) (CLEAR B 5) (CLEAR C 1) (CLEAR C 3) (CLEAR C 4) (CLEAR C 5) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 5) (CLEAR E 1) (CLEAR E 2) (CLEAR E 3) (CLEAR E 4)) Step 1 : (MOVECOLUPETOB RED 5) Created 4 0 -> (CLEAR D 5) 0 -> (CLEAR C 5) 0 -> (CLEAR B 5) 0 -> (BLOCKED A 5) 0 -> (AT RED E 5) 0 -> (COL 5) 0 -> (OBJECT RED) Step 2 : (MOVEROWLEFT5TO4 RED B) Created 3 0 -> (CLEAR B 4) 0 -> (BLOCKED B 3) 4 -> (AT RED B 5) 0 -> (ROW B) 0 -> (OBJECT RED) Step 3 : (MOVECOLDOWNBTOC RED 4) Created 2 0 -> (CLEAR C 4) 0 -> (BLOCKED D 4) 3 -> (AT RED B 4) 0 -> (COL 4) 0 -> (OBJECT RED) Step 4 : (MOVEROWLEFT4TO3 RED C) Created 1 0 -> (CLEAR C 3) 0 -> (BLOCKED C 2) 2 -> (AT RED C 4) 0 -> (ROW C) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 45; Goals = 4 ; Success (4 steps) Created 27305 plans, but explored only 11025 CPU time: 4.3600 sec Branching factor: 0.000 Working Unifies: 378715 Bindings Added: 38936 #plan Lunar 2 [4] UCPOP(38): (ibf-control 'lunar2) Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 2) (BLOCKED E 2) (AT YELLOW D 4) (BLOCKED D 4) (AT PURPLE C 2) (BLOCKED C 2) (AT GREEN B 5) (BLOCKED B 5) (AT ORANGE A 3) (BLOCKED A 3) (CLEAR A 1) (CLEAR A 2) (CLEAR A 4) (CLEAR A 5) (CLEAR B 1) (CLEAR B 2) (CLEAR B 3) (CLEAR B 4) (CLEAR C 1) (CLEAR C 3) (CLEAR C 4) (CLEAR C 5) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 5) (CLEAR E 1) (CLEAR E 3) (CLEAR E 4) (CLEAR E 5)) Step 1 : (MOVECOLUPETOD RED 2) Created 6 0 -> (CLEAR D 2) 0 -> (BLOCKED C 2) 0 -> (AT RED E 2) 0 -> (COL 2) 0 -> (OBJECT RED) Step 2 : (MOVEROWRIGHT2TO3 RED D) Created 5 0 -> (CLEAR D 3) 0 -> (BLOCKED D 4) 6 -> (AT RED D 2) 0 -> (ROW D) 0 -> (OBJECT RED) Step 3 : (MOVECOLUPDTOB RED 3) Created 4 0 -> (CLEAR C 3) 0 -> (CLEAR B 3) 0 -> (BLOCKED A 3) 5 -> (AT RED D 3) 0 -> (COL 3) 0 -> (OBJECT RED) Step 4 : (MOVEROWRIGHT3TO4 RED B) Created 3 0 -> (CLEAR B 4) 0 -> (BLOCKED B 5) 4 -> (AT RED B 3) 0 -> (ROW B) 0 -> (OBJECT RED) Step 5 : (MOVECOLDOWNBTOC RED 4) Created 2 0 -> (CLEAR C 4) 0 -> (BLOCKED D 4) 3 -> (AT RED B 4) 0 -> (COL 4) 0 -> (OBJECT RED) Step 6 : (MOVEROWLEFT4TO3 RED C) Created 1 0 -> (CLEAR C 3) 0 -> (BLOCKED C 2) 2 -> (AT RED C 4) 0 -> (ROW C) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 45; Goals = 4 ; Success (6 steps) Created 1022144 plans, but explored only 401437 CPU time: 210.9300 sec Branching factor: 0.000 Working Unifies: 16731285 Bindings Added: 1453067 #plan #Stats: Lunar 3 [4] UCPOP(40): (ibf-control 'lunar3) Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 5) (BLOCKED E 5) (AT YELLOW E 2) (BLOCKED E 2) (AT PURPLE D 4) (BLOCKED D 4) (AT GREEN B 2) (BLOCKED B 2) (AT ORANGE A 4) (BLOCKED A 4) (CLEAR A 1) (CLEAR A 2) (CLEAR A 3) (CLEAR A 5) (CLEAR B 1) (CLEAR B 3) (CLEAR B 4) (CLEAR B 5) (CLEAR C 1) (CLEAR C 2) (CLEAR C 3) (CLEAR C 4) (CLEAR C 5) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 5) (CLEAR E 1) (CLEAR E 3) (CLEAR E 4)) Step 1 : (MOVECOLUPDTOB PURPLE 4) Created 4 0 -> (CLEAR C 4) 0 -> (CLEAR B 4) 0 -> (BLOCKED A 4) 0 -> (AT PURPLE D 4) 0 -> (COL 4) 0 -> (OBJECT PURPLE) Step 2 : (MOVEROWRIGHT2TO3 GREEN B) Created 3 0 -> (CLEAR B 3) 4 -> (BLOCKED B 4) 0 -> (AT GREEN B 2) 0 -> (ROW B) 0 -> (OBJECT GREEN) Step 3 : (MOVEROWLEFT5TO3 RED E) Created 2 0 -> (CLEAR E 3) 0 -> (CLEAR E 4) 0 -> (BLOCKED E 2) 0 -> (AT RED E 5) 0 -> (ROW E) 0 -> (OBJECT RED) Step 4 : (MOVECOLUPETOC RED 3) Created 1 0 -> (CLEAR D 3) 0 -> (CLEAR C 3) 3 -> (BLOCKED B 3) 2 -> (AT RED E 3) 0 -> (COL 3) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 45; Goals = 4 ; Success (4 steps) Created 3047 plans, but explored only 1035 CPU time: 0.4200 sec Branching factor: 0.000 Working Unifies: 38079 Bindings Added: 4544 #plan #Stats: Lunar 4 [4] UCPOP(42): (ibf-control 'lunar4) Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 5) (BLOCKED E 5) (AT YELLOW E 3) (BLOCKED E 3) (AT PURPLE E 1) (BLOCKED E 1) (AT GREEN C 5) (BLOCKED C 5) (AT ORANGE B 2) (BLOCKED B 2) (CLEAR E 2) (CLEAR E 4) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 4) (CLEAR D 5) (CLEAR C 1) (CLEAR C 2) (CLEAR C 3) (CLEAR C 4) (CLEAR B 1) (CLEAR B 3) (CLEAR B 4) (CLEAR B 5) (CLEAR A 1) (CLEAR A 2) (CLEAR A 3) (CLEAR A 4) (CLEAR A 5)) Step 1 : (MOVEROWLEFT3TO2 YELLOW E) Created 5 0 -> (CLEAR E 2) 0 -> (BLOCKED E 1) 0 -> (AT YELLOW E 3) 0 -> (ROW E) 0 -> (OBJECT YELLOW) Step 2 : (MOVEROWLEFT5TO3 RED E) Created 4 5 -> (CLEAR E 3) 0 -> (CLEAR E 4) 5 -> (BLOCKED E 2) 0 -> (AT RED E 5) 0 -> (ROW E) 0 -> (OBJECT RED) Step 3 : (MOVECOLUPETOC YELLOW 2) Created 6 0 -> (CLEAR D 2) 0 -> (CLEAR C 2) 0 -> (BLOCKED B 2) 5 -> (AT YELLOW E 2) 0 -> (COL 2) 0 -> (OBJECT YELLOW) Step 4 : (MOVEROWRIGHT2TO4 YELLOW C) Created 7 0 -> (CLEAR C 4) 0 -> (CLEAR C 3) 0 -> (BLOCKED C 5) 6 -> (AT YELLOW C 2) 0 -> (ROW C) 0 -> (OBJECT YELLOW) Step 5 : (MOVEROWLEFT3TO2 RED E) Created 3 6 -> (CLEAR E 2) 0 -> (BLOCKED E 1) 4 -> (AT RED E 3) 0 -> (ROW E) 0 -> (OBJECT RED) Step 6 : (MOVECOLUPETOC RED 2) Created 2 0 -> (CLEAR D 2) 7 -> (CLEAR C 2) 0 -> (BLOCKED B 2) 3 -> (AT RED E 2) 0 -> (COL 2) 0 -> (OBJECT RED) Step 7 : (MOVEROWRIGHT2TO3 RED C) Created 1 0 -> (CLEAR C 3) 7 -> (BLOCKED C 4) 2 -> (AT RED C 2) 0 -> (ROW C) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 45; Goals = 4 ; Success (7 steps) Created 390466 plans, but explored only 144638 CPU time: 86.0800 sec Branching factor: 0.000 Working Unifies: 7791492 Bindings Added: 560284 #plan #Stats: Lunar 5 [4] UCPOP(44): (ibf-control 'lunar5) Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (AT RED E 5) (BLOCKED E 5) (AT YELLOW D 3) (BLOCKED D 3) (AT PURPLE C 5) (BLOCKED C 5) (AT GREEN B 2) (BLOCKED B 2) (AT ORANGE A 5) (BLOCKED A 5) (CLEAR E 1) (CLEAR E 2) (CLEAR E 3) (CLEAR E 4) (CLEAR D 1) (CLEAR D 2) (CLEAR D 4) (CLEAR D 5) (CLEAR C 1) (CLEAR C 2) (CLEAR C 3) (CLEAR C 4) (CLEAR B 1) (CLEAR B 3) (CLEAR B 4) (CLEAR B 5) (CLEAR A 1) (CLEAR A 2) (CLEAR A 3) (CLEAR A 4)) Step 1 : (MOVECOLUPCTOB PURPLE 5) Created 5 0 -> (CLEAR B 5) 0 -> (BLOCKED A 5) 0 -> (AT PURPLE C 5) 0 -> (COL 5) 0 -> (OBJECT PURPLE) Step 2 : (MOVECOLUPETOC RED 5) Created 4 0 -> (CLEAR D 5) 5 -> (CLEAR C 5) 5 -> (BLOCKED B 5) 0 -> (AT RED E 5) 0 -> (COL 5) 0 -> (OBJECT RED) Step 3 : (MOVEROWLEFT5TO3 PURPLE B) Created 6 0 -> (CLEAR B 3) 0 -> (CLEAR B 4) 0 -> (BLOCKED B 2) 5 -> (AT PURPLE B 5) 0 -> (ROW B) 0 -> (OBJECT PURPLE) Step 4 : (MOVECOLDOWNBTOC PURPLE 3) Created 7 0 -> (CLEAR C 3) 0 -> (BLOCKED D 3) 6 -> (AT PURPLE B 3) 0 -> (COL 3) 0 -> (OBJECT PURPLE) Step 5 : (MOVEROWRIGHT3TO4 PURPLE C) Created 8 0 -> (CLEAR C 4) 4 -> (BLOCKED C 5) 7 -> (AT PURPLE C 3) 0 -> (ROW C) 0 -> (OBJECT PURPLE) Step 6 : (MOVECOLUPCTOB RED 5) Created 3 6 -> (CLEAR B 5) 0 -> (BLOCKED A 5) 4 -> (AT RED C 5) 0 -> (COL 5) 0 -> (OBJECT RED) Step 7 : (MOVEROWLEFT5TO3 RED B) Created 2 7 -> (CLEAR B 3) 0 -> (CLEAR B 4) 0 -> (BLOCKED B 2) 3 -> (AT RED B 5) 0 -> (ROW B) 0 -> (OBJECT RED) Step 8 : (MOVECOLDOWNBTOC RED 3) Created 1 8 -> (CLEAR C 3) 0 -> (BLOCKED D 3) 2 -> (AT RED B 3) 0 -> (COL 3) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 45; Goals = 4 ; Success (8 steps) Created 194193 plans, but explored only 72854 CPU time: 43.2100 sec Branching factor: 0.000 Working Unifies: 3745630 Bindings Added: 279016 #plan #Stats: Lunar 6 [4] UCPOP(50): (ibf-control 'lunar6) 8391776 bytes have been tenured, next gc will be global. See the documentation for variable EXCL:*GLOBAL-GC-BEHAVIOR* for more information. Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (OBJECT BLUE) (AT RED E 5) (BLOCKED E 5) (AT BLUE E 3) (BLOCKED E 3) (AT YELLOW D 1) (BLOCKED D 1) (AT PURPLE C 4) (BLOCKED C 4) (AT GREEN B 3) (BLOCKED B 3) (AT ORANGE A 2) (BLOCKED A 2) (CLEAR E 1) (CLEAR E 2) (CLEAR E 4) (CLEAR D 2) (CLEAR D 3) (CLEAR D 4) (CLEAR D 5) (CLEAR C 1) (CLEAR C 2) (CLEAR C 3) (CLEAR C 5) (CLEAR B 1) (CLEAR B 2) (CLEAR B 4) (CLEAR B 5) (CLEAR A 1) (CLEAR A 3) (CLEAR A 4) (CLEAR A 5)) Step 1 : (MOVEROWLEFT5TO4 RED E) Created 6 0 -> (CLEAR E 4) 0 -> (BLOCKED E 3) 0 -> (AT RED E 5) 0 -> (ROW E) 0 -> (OBJECT RED) Step 2 : (MOVECOLUPETOD RED 4) Created 5 0 -> (CLEAR D 4) 0 -> (BLOCKED C 4) 6 -> (AT RED E 4) 0 -> (COL 4) 0 -> (OBJECT RED) Step 3 : (MOVEROWLEFT4TO2 RED D) Created 4 0 -> (CLEAR D 3) 0 -> (CLEAR D 2) 0 -> (BLOCKED D 1) 5 -> (AT RED D 4) 0 -> (ROW D) 0 -> (OBJECT RED) Step 4 : (MOVECOLUPDTOB RED 2) Created 3 0 -> (CLEAR C 2) 0 -> (CLEAR B 2) 0 -> (BLOCKED A 2) 4 -> (AT RED D 2) 0 -> (COL 2) 0 -> (OBJECT RED) Step 5 : (MOVECOLDOWNBTOD GREEN 3) Created 8 0 -> (CLEAR D 3) 0 -> (CLEAR C 3) 0 -> (BLOCKED E 3) 0 -> (AT GREEN B 3) 0 -> (COL 3) 0 -> (OBJECT GREEN) Step 6 : (MOVEROWRIGHT1TO2 YELLOW D) Created 7 3 -> (CLEAR D 2) 8 -> (BLOCKED D 3) 0 -> (AT YELLOW D 1) 0 -> (ROW D) 0 -> (OBJECT YELLOW) Step 7 : (MOVECOLDOWNBTOC RED 2) Created 2 0 -> (CLEAR C 2) 7 -> (BLOCKED D 2) 3 -> (AT RED B 2) 0 -> (COL 2) 0 -> (OBJECT RED) Step 8 : (MOVEROWRIGHT2TO3 RED C) Created 1 0 -> (CLEAR C 3) 0 -> (BLOCKED C 4) 2 -> (AT RED C 2) 0 -> (ROW C) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 47; Goals = 4 ; Success (8 steps) Created 1722560 plans, but explored only 680506 CPU time: 449.4100 sec Branching factor: 0.000 Working Unifies: 35261008 Bindings Added: 2408647 #plan #Stats: Lunar 8 [2] UCPOP(26): (ibf-control 'lunar8) 8390696 bytes have been tenured, next gc will be global. See the documentation for variable EXCL:*GLOBAL-GC-BEHAVIOR* for more information. 8389112 bytes have been tenured, next gc will be global. See the documentation for variable EXCL:*GLOBAL-GC-BEHAVIOR* for more information. Initial : ((ROW A) (ROW B) (ROW C) (ROW D) (ROW E) (COL 1) (COL 2) (COL 3) (COL 4) (COL 5) (OBJECT RED) (OBJECT YELLOW) (OBJECT GREEN) (OBJECT PURPLE) (OBJECT ORANGE) (OBJECT BLUE) (AT RED E 2) (BLOCKED E 2) (AT YELLOW D 5) (BLOCKED D 5) (AT PURPLE A 5) (BLOCKED A 5) (AT GREEN A 3) (BLOCKED A 3) (AT ORANGE A 1) (BLOCKED A 1) (CLEAR E 1) (CLEAR E 3) (CLEAR E 4) (CLEAR E 5) (CLEAR D 1) (CLEAR D 2) (CLEAR D 3) (CLEAR D 4) (CLEAR C 1) (CLEAR C 2) (CLEAR C 3) (CLEAR C 4) (CLEAR C 5) (CLEAR B 1) (CLEAR B 2) (CLEAR B 3) (CLEAR B 4) (CLEAR B 5) (CLEAR A 2) (CLEAR A 4)) Step 1 : (MOVEROWLEFT3TO2 GREEN A) Created 7 0 -> (CLEAR A 2) 0 -> (BLOCKED A 1) 0 -> (AT GREEN A 3) 0 -> (ROW A) 0 -> (OBJECT GREEN) Step 2 : (MOVEROWLEFT5TO3 PURPLE A) Created 6 7 -> (CLEAR A 3) 0 -> (CLEAR A 4) 7 -> (BLOCKED A 2) 0 -> (AT PURPLE A 5) 0 -> (ROW A) 0 -> (OBJECT PURPLE) Step 3 : (MOVECOLDOWNATOD GREEN 2) Created 8 0 -> (CLEAR D 2) 0 -> (CLEAR C 2) 0 -> (CLEAR B 2) 0 -> (BLOCKED E 2) 7 -> (AT GREEN A 2) 0 -> (COL 2) 0 -> (OBJECT GREEN) Step 4 : (MOVEROWRIGHT1TO2 ORANGE A) Created 5 8 -> (CLEAR A 2) 6 -> (BLOCKED A 3) 0 -> (AT ORANGE A 1) 0 -> (ROW A) 0 -> (OBJECT ORANGE) Step 5 : (MOVECOLDOWNATOC ORANGE 2) Created 4 0 -> (CLEAR C 2) 0 -> (CLEAR B 2) 8 -> (BLOCKED D 2) 5 -> (AT ORANGE A 2) 0 -> (COL 2) 0 -> (OBJECT ORANGE) Step 6 : (MOVEROWRIGHT2TO4 GREEN D) Created 9 0 -> (CLEAR D 4) 0 -> (CLEAR D 3) 0 -> (BLOCKED D 5) 8 -> (AT GREEN D 2) 0 -> (ROW D) 0 -> (OBJECT GREEN) Step 7 : (MOVECOLUPETOD RED 2) Created 3 9 -> (CLEAR D 2) 4 -> (BLOCKED C 2) 0 -> (AT RED E 2) 0 -> (COL 2) 0 -> (OBJECT RED) Step 8 : (MOVEROWLEFT4TO3 GREEN D) Created 11 0 -> (CLEAR D 3) 3 -> (BLOCKED D 2) 9 -> (AT GREEN D 4) 0 -> (ROW D) 0 -> (OBJECT GREEN) Step 9 : (MOVEROWLEFT5TO4 YELLOW D) Created 10 11 -> (CLEAR D 4) 11 -> (BLOCKED D 3) 0 -> (AT YELLOW D 5) 0 -> (ROW D) 0 -> (OBJECT YELLOW) Step 10 : (MOVECOLUPDTOB GREEN 3) Created 12 0 -> (CLEAR C 3) 0 -> (CLEAR B 3) 6 -> (BLOCKED A 3) 11 -> (AT GREEN D 3) 0 -> (COL 3) 0 -> (OBJECT GREEN) Step 11 : (MOVEROWRIGHT2TO3 RED D) Created 2 12 -> (CLEAR D 3) 10 -> (BLOCKED D 4) 3 -> (AT RED D 2) 0 -> (ROW D) 0 -> (OBJECT RED) Step 12 : (MOVECOLUPDTOC RED 3) Created 1 0 -> (CLEAR C 3) 12 -> (BLOCKED B 3) 2 -> (AT RED D 3) 0 -> (COL 3) 0 -> (OBJECT RED) Goal : (AT RED C 3) 1 -> (AT RED C 3) Facts: Complete! UCPOP Stats: Initial terms = 46; Goals = 4 ; Success (12 steps) Created 6468928 plans, but explored only 2464947 CPU time: 1844.8300 sec Branching factor: 0.000 Working Unifies: 150099453 Bindings Added: 9149427 #plan #Stats: