Notes on the Barrett and Weld Tyre world experiments.

Our Tyre world experiments involve solving problems with the subgoals:

   ((ON WHEEL2 HUB) (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
    (IN JACK BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (CLOSED BOOT))

With 8 subgoals there are $8!=40320$ possible subgoal orders.  The
subgoals are provably serializable for POCL.  The following four
conditions on a subgoal ordring are necessary for a serialization:

 1) (ON WHEEL2 HUB), (TIGHT NUTS WHEEL2), or (IN WHEEL1 BOOT) appears
    before (IN WRENCH BOOT)

 2) (ON WHEEL2 HUB) or (TIGHT NUTS WHEEL2) appears before 
    (IN JACK BOOT)

 3) (INFLATED WHEEL2) appears before (IN PUMP BOOT).

 4) (CLOSED BOOT) does not appear first

We wrote a commonlisp routine to count the number of orderings that
meet these criteria.  The number is 9408.  This number is 23.3% of all
orderings.  Thus, the subgoals are laboriously serializable for POCL.

Two extra conditions are needed to define serializable subgoal
orderings for TOCL.  They are:

 5) (TIGHT NUTS WHEEL2) appears before (IN WRENCH BOOT)

 6) (IN WRENCH BOOT) and (IN PUMP BOOT) appears before (CLOSED BOOT)

There are only 1576 orderings that meet all six conditions.  Since
this is only 3.91% of all orderings, the subgoals are laboriously
serializable for TOCL.

For {\em TOPI}, the subgoals are provably nonserializable. 

To explore the differences between POCL and TOCL we performed 3
experiments.  The first experiment deals with orderings that meet
conditions 1 through 6.  The second experiment deals with orderings
that meet conditions 1 through 4 (and not 5 or 6).  The last
experiment deals with orderings that do not meet at least one of the
first four conditions.

To diminish the problems with memory limitations, all the experiments
were run with an iterative deepening best first search for POCL {\cite
korf-aaai92}.  To ensure that the planners searched the space subgoal
by sugoal (and did not backtrack over subgoals without reason) we used
a domain independent ranking function that summed the number of steps
and open conditions (large numbers are bad) plus had a large negative
bonus added for each subgoal that had been completely solved.

Our use of subgoals in this domain points to one limitation with our
analysis.  In each of our artificial domains, there was only a finite
number of ways to achieve any particular subgoal, but in Tyre World
there are infinitly many ways to achieve some subgoals.  For example,
there are an infinite number of ways to get a car's trunk open.  Each
involves one more open-trunk operation than close-trunk operations.
Such infinitly achievable subgoals cause two problems with using a
simple backtracking depth first search in our planners.  First, depth
first searches cannot guarantee to achieve such subgoals.  Having an
infinite number of solutions implies that the search tree is infinitly
deep.  Second, supposing that a solution to such a subgoal is found,
the search will never backtrack to previous subgoals that were
incorrectly achieved.  

These experiments essentially partition the set of all orderings into
3 classes.  The first are those that are serializations for both
planners.  The second are serializations for only POCL.  Finally, the
last are not serializations for either planner.  In the first and last
experiments, POCL and TOCL exhibited comparable performances.  They
either solved all problems, or none of them respectively.  The real
difference between the planners appeared in the second experiment
where POCL could solve every problem, but TOCL could only solve half
of the problems.  

In the first two experiments POCL was always faster than TOCL.  In the
problems that were serializable for both planners, our experiment
showed with a 90% confidence that the mean speedup is between a factor
of 2.10 and a factor of 13.7.  This shows that there are other
features besides serializability that effect performance, but they are
minor.  This speedup was small when compared with the average speedup
of the second experiment.  It was greater than 121 times.

The summarized results of the first experiment are: 

                      POCL      TOCL
  -----------------------------------
  nodes              26631     43930
  time(sec)            182       283
  -----------------------------------
  nodes               9607     16501
  time(sec)             64       109
  -----------------------------------
  nodes              26630     43941
  time(sec)            183       283
  -----------------------------------
  nodes              25336    658878
  time(sec)            166      4260
  -----------------------------------
  nodes              24875    281418
  time(sec)            165      1842
  -----------------------------------
  nodes              26631     43917
  time(sec)            183       282
  -----------------------------------
  nodes               4532     12095
  time(sec)             32        84
  -----------------------------------
  nodes               5688    153234
  time(sec)             39      1128
  -----------------------------------
  nodes               26631    43934
  time(sec)             183      282
  -----------------------------------
  nodes               4532     12095
  time(sec)             32        84
  -----------------------------------


  mean time(sec)       123       863
  median time(sec)     165       282

  90% confidence     [84,162] [145,1581]
  intervals

  90% confidence interval for the mean speedup ratio:

     [2.10, 13.7]


  The (long) experimental log for these runs follows at the very end
  of the file.

The summarized results of the second experiment (valid orderings for
POCL, but not TOCL) are:

                      POCL      TOCL
  -----------------------------------
  nodes               5688   1377823+
  time(sec)             40     13727+
  ------------------------------------
  nodes               9562     16353
  time(sec)             65       111
  ------------------------------------
  nodes              26629     43920
  time(sec)            188       291
  -----------------------------------
  nodes               4533     13210
  time(sec)             33        97
  -----------------------------------
  nodes               5749   1340475+
  time(sec)             41     11172+
  -----------------------------------
  nodes               4544   1316723+
  time(sec)             36     10939+
  -----------------------------------
  nodes              26631   1355776+
  time(sec)            189     12670+
  -----------------------------------
  nodes              26631     44175
  time(sec)            190       292
  -----------------------------------
  nodes               9608   1374908+
  time(sec)             66     12566+
  -----------------------------------
  nodes              25381    833646
  time(sec)            172      5827

  mean time            102     >6769
  median time           66     >8383

  90% confidence    [62,142]
  intervals

  The "+" symbols signify that the value is a lower bound on the
  actual value.  The planner reached a resource bound and was
  unable to complete the problem.

  Notice that TOCL could not solve five of the ten randomly 
  selected problems.

  90% confidence interval for the mean speedup ratio:

    -Not computable due to problems that would not complete,
     but the average speedup was greater than 121 times.

The summarized results of the third experiment (orderings that do not
meet one of the first four conditions) are:

                      POCL      TOCL
  -----------------------------------
  nodes            1415432+  1432800+
  time(sec)           9470+    12479+
  -----------------------------------
  nodes            1296279+  1431767+
  time(sec)           9575+    12991+
  -----------------------------------
  nodes            1293074+  1351979+
  time(sec)           9971+    10546+
  -----------------------------------
  nodes            1294138+  1416054+
  time(sec)           9820+    12922+
  -----------------------------------
  nodes            1288793+  1380605+
  time(sec)          10229+    11436+
  -----------------------------------
  nodes            1413027+  1389442+
  time(sec)          11196+    10959+
  -----------------------------------
  nodes            1448385+  1423177+
  time(sec)          11381+    11103+
  -----------------------------------
  nodes            1274227+  1377385+
  time(sec)           9288+    11951+
  -----------------------------------
  nodes            1278019+  1394067+
  time(sec)          10049+    12467+
  -----------------------------------
  nodes            1516384+  1405450+
  time(sec)          12254+     9087+

  mean time         >10323    >11594
  median time       >10010    >11694

  (As you can see, none of the problems were successfully solved.)



********************** Complete log of the first experiment *********************

The remainder of this file contains the log for the successful planning
episodes (note that all meet the serializations conditions). 

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (IN JACK BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT)) 

SNLP ():


Initial  : ((UNLOCKED BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB) (ON-GROUND WHEEL1)
            (CLOSED BOOT) (IN JACK BOOT) (FLAT WHEEL1) (TIGHT NUTS WHEEL1)
            (IN WHEEL2 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT) (FLAT WHEEL2)
            (INTACT WHEEL2))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH PUMP BOOT)   Created 17
Step 3   : (INFLATE WHEEL2)   Created 16
Step 4   : (PUT-AWAY PUMP BOOT)   Created 18
Step 5   : (FETCH JACK BOOT)   Created 5 
Step 6   : (FETCH WRENCH BOOT)   Created 10
Step 7   : (FETCH WHEEL2 BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 13
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 15
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 14
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (IN JACK BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 182450   
     Nodes (V = 11634; Q = 0   ; C = 26631)             Branch 0.0       
     Working Unifies: 49473                           Bindings added: 17448

TOCL ():


Initial  : ((UNLOCKED BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB) (ON-GROUND WHEEL1)
            (CLOSED BOOT) (IN JACK BOOT) (FLAT WHEEL1) (TIGHT NUTS WHEEL1)
            (IN WHEEL2 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT) (FLAT WHEEL2)
            (INTACT WHEEL2))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH PUMP BOOT)  Created 17
Step 3   : (INFLATE WHEEL2)  Created 16
Step 4   : (PUT-AWAY PUMP BOOT)  Created 18
Step 5   : (FETCH WHEEL2 BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (FETCH JACK BOOT)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 13
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (PUT-AWAY JACK BOOT)  Created 15
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 14
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (IN JACK BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 282584   
     Nodes (V = 20146; Q = 0   ; C = 43930)             Branch 0.0       
     Working Unifies: 79715                           Bindings added: 27629

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((ON WHEEL2 HUB) (INFLATED WHEEL2) (IN JACK BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN WRENCH BOOT) (CLOSED BOOT)
            (IN WHEEL1 BOOT)) 

SNLP ():


Initial  : ((INTACT WHEEL2) (IN WHEEL2 BOOT) (UNLOCKED BOOT) (IN PUMP BOOT)
            (FLAT WHEEL2) (IN JACK BOOT) (CLOSED BOOT) (IN WRENCH BOOT)
            (TIGHT NUTS WHEEL1) (FLAT WHEEL1) (ON-GROUND WHEEL1)
            (ON-GROUND HUB) (ON WHEEL1 HUB))

Step 1   : (OPEN BOOT)       Created 4 
Step 2   : (FETCH WRENCH BOOT)   Created 8 
Step 3   : (FETCH PUMP BOOT)   Created 11
Step 4   : (INFLATE WHEEL2)   Created 10
Step 5   : (PUT-AWAY PUMP BOOT)   Created 14
Step 6   : (FETCH JACK BOOT)   Created 3 
Step 7   : (FETCH WHEEL2 BOOT)   Created 9 
Step 8   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 2 
Step 10  : (UNDO NUTS WHEEL1)   Created 6 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 1 
Step 14  : (DO-UP NUTS WHEEL2)   Created 16
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 13
Step 16  : (PUT-AWAY JACK BOOT)   Created 12
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 15
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 17
Step 19  : (CLOSE BOOT)      Created 18

Goal     : ((ON WHEEL2 HUB) (INFLATED WHEEL2) (IN JACK BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN WRENCH BOOT) (CLOSED BOOT)
            (IN WHEEL1 BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 63634    
     Nodes (V = 4140; Q = 0   ; C = 9607)             Branch 0.0       
     Working Unifies: 18656                           Bindings added: 6405 

TOCL ():


Initial  : ((INTACT WHEEL2) (IN WHEEL2 BOOT) (UNLOCKED BOOT) (IN PUMP BOOT)
            (FLAT WHEEL2) (IN JACK BOOT) (CLOSED BOOT) (IN WRENCH BOOT)
            (TIGHT NUTS WHEEL1) (FLAT WHEEL1) (ON-GROUND WHEEL1)
            (ON-GROUND HUB) (ON WHEEL1 HUB))

Step 1   : (OPEN BOOT)      Created 4 
Step 2   : (FETCH PUMP BOOT)  Created 11
Step 3   : (INFLATE WHEEL2)  Created 10
Step 4   : (PUT-AWAY PUMP BOOT)  Created 14
Step 5   : (FETCH WHEEL2 BOOT)  Created 9 
Step 6   : (FETCH WRENCH BOOT)  Created 8 
Step 7   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 8   : (FETCH JACK BOOT)  Created 3 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 2 
Step 10  : (UNDO NUTS WHEEL1)  Created 6 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 1 
Step 14  : (DO-UP NUTS WHEEL2)  Created 16
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 13
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 15
Step 17  : (PUT-AWAY WRENCH BOOT)  Created 17
Step 18  : (PUT-AWAY JACK BOOT)  Created 12
Step 19  : (CLOSE BOOT)     Created 18

Goal     : ((ON WHEEL2 HUB) (INFLATED WHEEL2) (IN JACK BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN WRENCH BOOT) (CLOSED BOOT)
            (IN WHEEL1 BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 109300   
     Nodes (V = 7278; Q = 0   ; C = 16501)             Branch 0.0       
     Working Unifies: 33549                           Bindings added: 10794

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (IN JACK BOOT) (INFLATED WHEEL2)
            (IN WRENCH BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
            (IN WHEEL1 BOOT)) 

SNLP ():


Initial  : ((IN PUMP BOOT) (IN WRENCH BOOT) (IN JACK BOOT) (INTACT WHEEL2)
            (FLAT WHEEL2) (FLAT WHEEL1) (TIGHT NUTS WHEEL1) (CLOSED BOOT)
            (ON-GROUND HUB) (IN WHEEL2 BOOT) (ON-GROUND WHEEL1)
            (UNLOCKED BOOT) (ON WHEEL1 HUB))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH PUMP BOOT)   Created 15
Step 3   : (INFLATE WHEEL2)   Created 14
Step 4   : (PUT-AWAY PUMP BOOT)   Created 17
Step 5   : (FETCH WRENCH BOOT)   Created 10
Step 6   : (FETCH JACK BOOT)   Created 5 
Step 7   : (FETCH WHEEL2 BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 16
Step 19  : (CLOSE BOOT)      Created 18

Goal     : ((TIGHT NUTS WHEEL2) (IN JACK BOOT) (INFLATED WHEEL2)
            (IN WRENCH BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
            (IN WHEEL1 BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 182500   
     Nodes (V = 11633; Q = 0   ; C = 26630)             Branch 0.0       
     Working Unifies: 49466                           Bindings added: 17448

TOCL ():


Initial  : ((IN PUMP BOOT) (IN WRENCH BOOT) (IN JACK BOOT) (INTACT WHEEL2)
            (FLAT WHEEL2) (FLAT WHEEL1) (TIGHT NUTS WHEEL1) (CLOSED BOOT)
            (ON-GROUND HUB) (IN WHEEL2 BOOT) (ON-GROUND WHEEL1)
            (UNLOCKED BOOT) (ON WHEEL1 HUB))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH PUMP BOOT)  Created 15
Step 3   : (INFLATE WHEEL2)  Created 14
Step 4   : (PUT-AWAY PUMP BOOT)  Created 17
Step 5   : (FETCH WHEEL2 BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (FETCH JACK BOOT)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (PUT-AWAY JACK BOOT)  Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 16
Step 19  : (CLOSE BOOT)     Created 18

Goal     : ((TIGHT NUTS WHEEL2) (IN JACK BOOT) (INFLATED WHEEL2)
            (IN WRENCH BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
            (IN WHEEL1 BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 282950   
     Nodes (V = 20148; Q = 0   ; C = 43941)             Branch 0.0       
     Working Unifies: 79802                           Bindings added: 27642

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (IN WRENCH BOOT) (CLOSED BOOT)
            (IN WHEEL1 BOOT)) 

SNLP ():


Initial  : ((ON-GROUND HUB) (FLAT WHEEL2) (UNLOCKED BOOT) (IN WRENCH BOOT)
            (CLOSED BOOT) (ON WHEEL1 HUB) (INTACT WHEEL2) (ON-GROUND WHEEL1)
            (FLAT WHEEL1) (TIGHT NUTS WHEEL1) (IN WHEEL2 BOOT) (IN JACK BOOT)
            (IN PUMP BOOT))

Step 1   : (OPEN BOOT)       Created 3 
Step 2   : (FETCH WRENCH BOOT)   Created 11
Step 3   : (FETCH JACK BOOT)   Created 7 
Step 4   : (FETCH WHEEL2 BOOT)   Created 12
Step 5   : (LOOSEN NUTS WHEEL1)   Created 10
Step 6   : (JACK-UP WHEEL1 HUB)   Created 6 
Step 7   : (FETCH PUMP BOOT)   Created 2 
Step 8   : (UNDO NUTS WHEEL1)   Created 9 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 8 
Step 10  : (PUT-AWAY WHEEL1 BOOT)   Created 19
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 5 
Step 12  : (DO-UP NUTS WHEEL2)   Created 15
Step 13  : (JACK-DOWN WHEEL2 HUB)   Created 14
Step 14  : (PUT-AWAY JACK BOOT)   Created 16
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 13
Step 16  : (PUT-AWAY WRENCH BOOT)   Created 17
Step 17  : (INFLATE WHEEL2)   Created 1 
Step 18  : (PUT-AWAY PUMP BOOT)   Created 4 
Step 19  : (CLOSE BOOT)      Created 18

Goal     : ((INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (IN WRENCH BOOT) (CLOSED BOOT)
            (IN WHEEL1 BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 165633   
     Nodes (V = 11442; Q = 0   ; C = 25336)             Branch 0.0       
     Working Unifies: 62208                           Bindings added: 15924

TOCL ():


Initial  : ((ON-GROUND HUB) (FLAT WHEEL2) (UNLOCKED BOOT) (IN WRENCH BOOT)
            (CLOSED BOOT) (ON WHEEL1 HUB) (INTACT WHEEL2) (ON-GROUND WHEEL1)
            (FLAT WHEEL1) (TIGHT NUTS WHEEL1) (IN WHEEL2 BOOT) (IN JACK BOOT)
            (IN PUMP BOOT))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH WHEEL2 BOOT)  Created 12
Step 3   : (FETCH WRENCH BOOT)  Created 11
Step 4   : (LOOSEN NUTS WHEEL1)  Created 10
Step 5   : (FETCH JACK BOOT)  Created 7 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 6 
Step 7   : (FETCH PUMP BOOT)  Created 2 
Step 8   : (UNDO NUTS WHEEL1)  Created 9 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)  Created 8 
Step 10  : (PUT-AWAY WHEEL1 BOOT)  Created 19
Step 11  : (INFLATE WHEEL2)  Created 1 
Step 12  : (PUT-AWAY PUMP BOOT)  Created 4 
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 5 
Step 14  : (DO-UP NUTS WHEEL2)  Created 15
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 14
Step 16  : (PUT-AWAY JACK BOOT)  Created 16
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 13
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 17
Step 19  : (CLOSE BOOT)     Created 18

Goal     : ((INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (IN WRENCH BOOT) (CLOSED BOOT)
            (IN WHEEL1 BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 4260433  
     Nodes (V = 316382; Q = 0   ; C = 658878)             Branch 0.0       
     Working Unifies: 1499091                         Bindings added: 378175

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((INFLATED WHEEL2) (ON WHEEL2 HUB) (IN JACK BOOT) (IN PUMP BOOT)
            (IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN WRENCH BOOT)
            (CLOSED BOOT)) 

SNLP ():


Initial  : ((FLAT WHEEL1) (IN PUMP BOOT) (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1)
            (IN WRENCH BOOT) (ON-GROUND WHEEL1) (IN JACK BOOT) (FLAT WHEEL2)
            (UNLOCKED BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB) (CLOSED BOOT)
            (INTACT WHEEL2))

Step 1   : (OPEN BOOT)       Created 3 
Step 2   : (FETCH WRENCH BOOT)   Created 10
Step 3   : (FETCH PUMP BOOT)   Created 2 
Step 4   : (FETCH JACK BOOT)   Created 6 
Step 5   : (FETCH WHEEL2 BOOT)   Created 11
Step 6   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 5 
Step 8   : (UNDO NUTS WHEEL1)   Created 8 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 10  : (PUT-AWAY WHEEL1 BOOT)   Created 15
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 4 
Step 12  : (DO-UP NUTS WHEEL2)   Created 17
Step 13  : (JACK-DOWN WHEEL2 HUB)   Created 13
Step 14  : (PUT-AWAY JACK BOOT)   Created 12
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 16
Step 16  : (PUT-AWAY WRENCH BOOT)   Created 18
Step 17  : (INFLATE WHEEL2)   Created 1 
Step 18  : (PUT-AWAY PUMP BOOT)   Created 14
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((INFLATED WHEEL2) (ON WHEEL2 HUB) (IN JACK BOOT) (IN PUMP BOOT)
            (IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN WRENCH BOOT)
            (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 165350   
     Nodes (V = 10383; Q = 0   ; C = 24875)             Branch 0.0       
     Working Unifies: 55620                           Bindings added: 16588

TOCL ():


Initial  : ((FLAT WHEEL1) (IN PUMP BOOT) (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1)
            (IN WRENCH BOOT) (ON-GROUND WHEEL1) (IN JACK BOOT) (FLAT WHEEL2)
            (UNLOCKED BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB) (CLOSED BOOT)
            (INTACT WHEEL2))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH WHEEL2 BOOT)  Created 11
Step 3   : (FETCH WRENCH BOOT)  Created 10
Step 4   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 5   : (FETCH JACK BOOT)  Created 6 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 5 
Step 7   : (FETCH PUMP BOOT)  Created 2 
Step 8   : (UNDO NUTS WHEEL1)  Created 8 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 10  : (PUT-AWAY WHEEL1 BOOT)  Created 15
Step 11  : (INFLATE WHEEL2)  Created 1 
Step 12  : (PUT-AWAY PUMP BOOT)  Created 14
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 4 
Step 14  : (DO-UP NUTS WHEEL2)  Created 17
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 13
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 16
Step 17  : (PUT-AWAY WRENCH BOOT)  Created 18
Step 18  : (PUT-AWAY JACK BOOT)  Created 12
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((INFLATED WHEEL2) (ON WHEEL2 HUB) (IN JACK BOOT) (IN PUMP BOOT)
            (IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN WRENCH BOOT)
            (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 1841650  
     Nodes (V = 129046; Q = 0   ; C = 281418)             Branch 0.0       
     Working Unifies: 587552                          Bindings added: 170475

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (IN JACK BOOT) (IN WHEEL1 BOOT)
            (INFLATED WHEEL2) (IN PUMP BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT)) 

SNLP ():


Initial  : ((IN WHEEL2 BOOT) (IN WRENCH BOOT) (TIGHT NUTS WHEEL1)
            (ON WHEEL1 HUB) (ON-GROUND HUB) (IN JACK BOOT) (UNLOCKED BOOT)
            (INTACT WHEEL2) (IN PUMP BOOT) (FLAT WHEEL1) (CLOSED BOOT)
            (ON-GROUND WHEEL1) (FLAT WHEEL2))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH WRENCH BOOT)   Created 10
Step 3   : (FETCH PUMP BOOT)   Created 16
Step 4   : (INFLATE WHEEL2)   Created 15
Step 5   : (PUT-AWAY PUMP BOOT)   Created 17
Step 6   : (FETCH JACK BOOT)   Created 5 
Step 7   : (FETCH WHEEL2 BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 14
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 18
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((TIGHT NUTS WHEEL2) (IN JACK BOOT) (IN WHEEL1 BOOT)
            (INFLATED WHEEL2) (IN PUMP BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 183200   
     Nodes (V = 11634; Q = 0   ; C = 26631)             Branch 0.0       
     Working Unifies: 49467                           Bindings added: 17448

TOCL ():


Initial  : ((IN WHEEL2 BOOT) (IN WRENCH BOOT) (TIGHT NUTS WHEEL1)
            (ON WHEEL1 HUB) (ON-GROUND HUB) (IN JACK BOOT) (UNLOCKED BOOT)
            (INTACT WHEEL2) (IN PUMP BOOT) (FLAT WHEEL1) (CLOSED BOOT)
            (ON-GROUND WHEEL1) (FLAT WHEEL2))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH PUMP BOOT)  Created 16
Step 3   : (INFLATE WHEEL2)  Created 15
Step 4   : (PUT-AWAY PUMP BOOT)  Created 17
Step 5   : (FETCH WHEEL2 BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (FETCH JACK BOOT)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 14
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (PUT-AWAY JACK BOOT)  Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 18
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((TIGHT NUTS WHEEL2) (IN JACK BOOT) (IN WHEEL1 BOOT)
            (INFLATED WHEEL2) (IN PUMP BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 281767   
     Nodes (V = 20143; Q = 0   ; C = 43917)             Branch 0.0       
     Working Unifies: 79561                           Bindings added: 27621


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (ON WHEEL2 HUB)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (IN JACK BOOT) (IN PUMP BOOT)
            (CLOSED BOOT)) 

SNLP ():


Initial  : ((ON WHEEL1 HUB) (FLAT WHEEL2) (FLAT WHEEL1) (IN PUMP BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (IN WHEEL2 BOOT) (UNLOCKED BOOT)
            (ON-GROUND WHEEL1) (TIGHT NUTS WHEEL1) (ON-GROUND HUB)
            (IN JACK BOOT) (INTACT WHEEL2))

Step 1   : (OPEN BOOT)       Created 2 
Step 2   : (FETCH PUMP BOOT)   Created 15
Step 3   : (INFLATE WHEEL2)   Created 14
Step 4   : (PUT-AWAY PUMP BOOT)   Created 18
Step 5   : (FETCH JACK BOOT)   Created 8 
Step 6   : (FETCH WRENCH BOOT)   Created 6 
Step 7   : (FETCH WHEEL2 BOOT)   Created 12
Step 8   : (LOOSEN NUTS WHEEL1)   Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 10  : (UNDO NUTS WHEEL1)   Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 3 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 1 
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 11
Step 14  : (DO-UP NUTS WHEEL2)   Created 13
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 10
Step 16  : (PUT-AWAY JACK BOOT)   Created 17
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 9 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 16
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (ON WHEEL2 HUB)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (IN JACK BOOT) (IN PUMP BOOT)
            (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 32217    
     Nodes (V = 2157; Q = 0   ; C = 4532)             Branch 0.0       
     Working Unifies: 8706                            Bindings added: 2871 

TOCL ():


Initial  : ((ON WHEEL1 HUB) (FLAT WHEEL2) (FLAT WHEEL1) (IN PUMP BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (IN WHEEL2 BOOT) (UNLOCKED BOOT)
            (ON-GROUND WHEEL1) (TIGHT NUTS WHEEL1) (ON-GROUND HUB)
            (IN JACK BOOT) (INTACT WHEEL2))

Step 1   : (OPEN BOOT)      Created 2 
Step 2   : (FETCH PUMP BOOT)  Created 15
Step 3   : (INFLATE WHEEL2)  Created 14
Step 4   : (PUT-AWAY PUMP BOOT)  Created 18
Step 5   : (FETCH WHEEL2 BOOT)  Created 12
Step 6   : (FETCH JACK BOOT)  Created 8 
Step 7   : (FETCH WRENCH BOOT)  Created 6 
Step 8   : (LOOSEN NUTS WHEEL1)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 7 
Step 10  : (UNDO NUTS WHEEL1)  Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 3 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 11
Step 13  : (DO-UP NUTS WHEEL2)  Created 13
Step 14  : (JACK-DOWN WHEEL2 HUB)  Created 10
Step 15  : (PUT-AWAY JACK BOOT)  Created 17
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 9 
Step 17  : (PUT-AWAY WRENCH BOOT)  Created 16
Step 18  : (PUT-AWAY WHEEL1 BOOT)  Created 1 
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (ON WHEEL2 HUB)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (IN JACK BOOT) (IN PUMP BOOT)
            (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 83933    
     Nodes (V = 5602; Q = 0   ; C = 12095)             Branch 0.0       
     Working Unifies: 20234                           Bindings added: 7394 


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT)) 

SNLP ():


Initial  : ((UNLOCKED BOOT) (CLOSED BOOT) (INTACT WHEEL2) (TIGHT NUTS WHEEL1)
            (ON-GROUND WHEEL1) (IN PUMP BOOT) (IN WHEEL2 BOOT)
            (IN WRENCH BOOT) (IN JACK BOOT) (FLAT WHEEL1) (FLAT WHEEL2)
            (ON WHEEL1 HUB) (ON-GROUND HUB))

Step 1   : (OPEN BOOT)       Created 3 
Step 2   : (FETCH WRENCH BOOT)   Created 8 
Step 3   : (FETCH JACK BOOT)   Created 10
Step 4   : (FETCH WHEEL2 BOOT)   Created 15
Step 5   : (FETCH PUMP BOOT)   Created 2 
Step 6   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 9 
Step 8   : (UNDO NUTS WHEEL1)   Created 6 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 10  : (PUT-AWAY WHEEL1 BOOT)   Created 4 
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 14
Step 12  : (DO-UP NUTS WHEEL2)   Created 16
Step 13  : (JACK-DOWN WHEEL2 HUB)   Created 13
Step 14  : (PUT-AWAY JACK BOOT)   Created 17
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 12
Step 16  : (PUT-AWAY WRENCH BOOT)   Created 18
Step 17  : (INFLATE WHEEL2)   Created 1 
Step 18  : (PUT-AWAY PUMP BOOT)   Created 11
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 39300    
     Nodes (V = 2780; Q = 0   ; C = 5688)             Branch 0.0       
     Working Unifies: 13000                           Bindings added: 3387 

TOCL ():


Initial  : ((UNLOCKED BOOT) (CLOSED BOOT) (INTACT WHEEL2) (TIGHT NUTS WHEEL1)
            (ON-GROUND WHEEL1) (IN PUMP BOOT) (IN WHEEL2 BOOT)
            (IN WRENCH BOOT) (IN JACK BOOT) (FLAT WHEEL1) (FLAT WHEEL2)
            (ON WHEEL1 HUB) (ON-GROUND HUB))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH WHEEL2 BOOT)  Created 15
Step 3   : (FETCH JACK BOOT)  Created 10
Step 4   : (FETCH WRENCH BOOT)  Created 8 
Step 5   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 9 
Step 7   : (UNDO NUTS WHEEL1)  Created 6 
Step 8   : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 9   : (PUT-ON-WHEEL WHEEL2 HUB)  Created 14
Step 10  : (DO-UP NUTS WHEEL2)  Created 16
Step 11  : (JACK-DOWN WHEEL2 HUB)  Created 13
Step 12  : (PUT-AWAY JACK BOOT)  Created 17
Step 13  : (TIGHTEN NUTS WHEEL2)  Created 12
Step 14  : (PUT-AWAY WRENCH BOOT)  Created 18
Step 15  : (PUT-AWAY WHEEL1 BOOT)  Created 4 
Step 16  : (FETCH PUMP BOOT)  Created 2 
Step 17  : (INFLATE WHEEL2)  Created 1 
Step 18  : (PUT-AWAY PUMP BOOT)  Created 11
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 1128250  
     Nodes (V = 70378; Q = 0   ; C = 153234)             Branch 0.0       
     Working Unifies: 249478                          Bindings added: 91161


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (ON WHEEL2 HUB) (IN JACK BOOT)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (IN WHEEL1 BOOT) (IN PUMP BOOT)
            (CLOSED BOOT)) 

SNLP ():


Initial  : ((ON-GROUND HUB) (CLOSED BOOT) (FLAT WHEEL2) (ON WHEEL1 HUB)
            (IN PUMP BOOT) (TIGHT NUTS WHEEL1) (FLAT WHEEL1) (IN JACK BOOT)
            (IN WHEEL2 BOOT) (ON-GROUND WHEEL1) (INTACT WHEEL2)
            (IN WRENCH BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH PUMP BOOT)   Created 15
Step 3   : (INFLATE WHEEL2)   Created 14
Step 4   : (PUT-AWAY PUMP BOOT)   Created 18
Step 5   : (FETCH WRENCH BOOT)   Created 10
Step 6   : (FETCH JACK BOOT)   Created 5 
Step 7   : (FETCH WHEEL2 BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 17
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 16
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((TIGHT NUTS WHEEL2) (ON WHEEL2 HUB) (IN JACK BOOT)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (IN WHEEL1 BOOT) (IN PUMP BOOT)
            (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 182917   
     Nodes (V = 11634; Q = 0   ; C = 26631)             Branch 0.0       
     Working Unifies: 49466                           Bindings added: 17448

TOCL ():


Initial  : ((ON-GROUND HUB) (CLOSED BOOT) (FLAT WHEEL2) (ON WHEEL1 HUB)
            (IN PUMP BOOT) (TIGHT NUTS WHEEL1) (FLAT WHEEL1) (IN JACK BOOT)
            (IN WHEEL2 BOOT) (ON-GROUND WHEEL1) (INTACT WHEEL2)
            (IN WRENCH BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH PUMP BOOT)  Created 15
Step 3   : (INFLATE WHEEL2)  Created 14
Step 4   : (PUT-AWAY PUMP BOOT)  Created 18
Step 5   : (FETCH WHEEL2 BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (FETCH JACK BOOT)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 17
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (PUT-AWAY JACK BOOT)  Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 16
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((TIGHT NUTS WHEEL2) (ON WHEEL2 HUB) (IN JACK BOOT)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (IN WHEEL1 BOOT) (IN PUMP BOOT)
            (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 282066   
     Nodes (V = 20147; Q = 0   ; C = 43934)             Branch 0.0       
     Working Unifies: 79694                           Bindings added: 27635


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
            (IN WRENCH BOOT) (IN JACK BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT)) 

SNLP ():


Initial  : ((FLAT WHEEL2) (ON WHEEL1 HUB) (IN JACK BOOT) (FLAT WHEEL1)
            (ON-GROUND WHEEL1) (UNLOCKED BOOT) (TIGHT NUTS WHEEL1)
            (ON-GROUND HUB) (IN WRENCH BOOT) (CLOSED BOOT) (IN WHEEL2 BOOT)
            (IN PUMP BOOT) (INTACT WHEEL2))

Step 1   : (OPEN BOOT)       Created 2 
Step 2   : (FETCH PUMP BOOT)   Created 15
Step 3   : (INFLATE WHEEL2)   Created 14
Step 4   : (PUT-AWAY PUMP BOOT)   Created 18
Step 5   : (FETCH JACK BOOT)   Created 8 
Step 6   : (FETCH WRENCH BOOT)   Created 6 
Step 7   : (FETCH WHEEL2 BOOT)   Created 12
Step 8   : (LOOSEN NUTS WHEEL1)   Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 10  : (UNDO NUTS WHEEL1)   Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 3 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 1 
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 11
Step 14  : (DO-UP NUTS WHEEL2)   Created 13
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 10
Step 16  : (PUT-AWAY JACK BOOT)   Created 17
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 9 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 16
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
            (IN WRENCH BOOT) (IN JACK BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 32366    
     Nodes (V = 2157; Q = 0   ; C = 4532)             Branch 0.0       
     Working Unifies: 8706                            Bindings added: 2871 

TOCL ():


Initial  : ((FLAT WHEEL2) (ON WHEEL1 HUB) (IN JACK BOOT) (FLAT WHEEL1)
            (ON-GROUND WHEEL1) (UNLOCKED BOOT) (TIGHT NUTS WHEEL1)
            (ON-GROUND HUB) (IN WRENCH BOOT) (CLOSED BOOT) (IN WHEEL2 BOOT)
            (IN PUMP BOOT) (INTACT WHEEL2))

Step 1   : (OPEN BOOT)      Created 2 
Step 2   : (FETCH PUMP BOOT)  Created 15
Step 3   : (INFLATE WHEEL2)  Created 14
Step 4   : (PUT-AWAY PUMP BOOT)  Created 18
Step 5   : (FETCH WHEEL2 BOOT)  Created 12
Step 6   : (FETCH JACK BOOT)  Created 8 
Step 7   : (FETCH WRENCH BOOT)  Created 6 
Step 8   : (LOOSEN NUTS WHEEL1)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 7 
Step 10  : (UNDO NUTS WHEEL1)  Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 3 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 11
Step 13  : (DO-UP NUTS WHEEL2)  Created 13
Step 14  : (JACK-DOWN WHEEL2 HUB)  Created 10
Step 15  : (PUT-AWAY JACK BOOT)  Created 17
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 9 
Step 17  : (PUT-AWAY WRENCH BOOT)  Created 16
Step 18  : (PUT-AWAY WHEEL1 BOOT)  Created 1 
Step 19  : (CLOSE BOOT)     Created 19

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
            (IN WRENCH BOOT) (IN JACK BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (CLOSED BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 83533    
     Nodes (V = 5602; Q = 0   ; C = 12095)             Branch 0.0       
     Working Unifies: 20234                           Bindings added: 7394 

********************** Complete log of the second experiment *********************

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)) 

SNLP ():


Initial  : ((FLAT WHEEL1) (ON-GROUND WHEEL1) (IN PUMP BOOT) (FLAT WHEEL2)
            (UNLOCKED BOOT) (IN WHEEL2 BOOT) (IN JACK BOOT) (ON WHEEL1 HUB)
            (IN WRENCH BOOT) (ON-GROUND HUB) (INTACT WHEEL2) (CLOSED BOOT)
            (TIGHT NUTS WHEEL1))

Step 1   : (OPEN BOOT)       Created 3 
Step 2   : (FETCH JACK BOOT)   Created 10
Step 3   : (FETCH WRENCH BOOT)   Created 8 
Step 4   : (FETCH WHEEL2 BOOT)   Created 16
Step 5   : (FETCH PUMP BOOT)   Created 2 
Step 6   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 9 
Step 8   : (UNDO NUTS WHEEL1)   Created 6 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 10  : (PUT-AWAY WHEEL1 BOOT)   Created 4 
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 15
Step 12  : (DO-UP NUTS WHEEL2)   Created 17
Step 13  : (JACK-DOWN WHEEL2 HUB)   Created 14
Step 14  : (PUT-AWAY JACK BOOT)   Created 18
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 13
Step 16  : (PUT-AWAY WRENCH BOOT)   Created 11
Step 17  : (INFLATE WHEEL2)   Created 1 
Step 18  : (PUT-AWAY PUMP BOOT)   Created 12
Step 19  : (CLOSE BOOT)      Created 19

Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB) (CLOSED BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 40283    
     Nodes (V = 2778; Q = 0   ; C = 5688)             Branch 0.0       
     Working Unifies: 13027                           Bindings added: 3387 

TOCL ():
Warning: 5001912 bytes have been tenured, next gc will be global.
See the documentation for variable *GLOBAL-GC-BEHAVIOR* for more information.


Initial  : ((FLAT WHEEL1) (ON-GROUND WHEEL1) (IN PUMP BOOT) (FLAT WHEEL2)
            (UNLOCKED BOOT) (IN WHEEL2 BOOT) (IN JACK BOOT) (ON WHEEL1 HUB)
            (IN WRENCH BOOT) (ON-GROUND HUB) (INTACT WHEEL2) (CLOSED BOOT)
            (TIGHT NUTS WHEEL1))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH JACK BOOT)  Created 10
Step 3   : (FETCH WHEEL2 BOOT)  Created 16
Step 4   : (FETCH WRENCH BOOT)  Created 8 
Step 5   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 9 
Step 7   : (UNDO NUTS WHEEL1)  Created 6 
Step 8   : (PUT-AWAY NUTS BOOT)  Created 19
Step 9   : (PUT-AWAY WRENCH BOOT)  Created 11
Step 10  : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 11  : (PUT-AWAY WHEEL1 BOOT)  Created 4 
Step 12  : (FETCH NUTS BOOT)  Created 18
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 15
Step 14  : (FETCH PUMP BOOT)  Created 2 
Step 15  : (UNDO WRENCH ?Y20)  Created 20
Step 16  : (DO-UP NUTS WHEEL2)  Created 17
Step 17  : (JACK-DOWN WHEEL2 HUB)  Created 14
Step 18  : (TIGHTEN NUTS WHEEL2)  Created 13
Step 19  : (INFLATE WHEEL2)  Created 1 
Step 20  : (PUT-AWAY PUMP BOOT)  Created 12

Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB) (CLOSED BOOT))
Unsafe   : NIL 
Open     : (((LOOSE WRENCH ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (UNDO ?X20 ?Y20)
                          :PRECOND
                          ((OFF-GROUND ?Y20) (HAVE WRENCH) (LOOSE ?X20 ?Y20))
                          :ADD ((HAVE ?X20) (UNFASTENED ?Y20))
                          :DELE ((LOOSE ?X20 ?Y20))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 20 :ACTION (UNDO ?X20 ?Y20)
                          :PRECOND
                          ((OFF-GROUND ?Y20) (HAVE WRENCH) (LOOSE ?X20 ?Y20))
                          :ADD ((HAVE ?X20) (UNFASTENED ?Y20))
                          :DELE ((LOOSE ?X20 ?Y20))))
            ((OFF-GROUND ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (UNDO ?X20 ?Y20)
                          :PRECOND
                          ((OFF-GROUND ?Y20) (HAVE WRENCH) (LOOSE ?X20 ?Y20))
                          :ADD ((HAVE ?X20) (UNFASTENED ?Y20))
                          :DELE ((LOOSE ?X20 ?Y20))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 13 :ACTION (TIGHTEN ?X13 ?Y13)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X13 ?Y13) (ON-GROUND ?Y13))
                          :ADD ((TIGHT ?X13 ?Y13)) :DELE ((LOOSE ?X13 ?Y13))))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
                           (IN PUMP BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT)
                           (ON WHEEL2 HUB) (CLOSED BOOT))
                          :ADD NIL :DELE NIL))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
                           (IN PUMP BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT)
                           (ON WHEEL2 HUB) (CLOSED BOOT))
                          :ADD NIL :DELE NIL))
            ((CLOSED BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
                           (IN PUMP BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT)
                           (ON WHEEL2 HUB) (CLOSED BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 13727484 
     Nodes (V = 548682; Q = 0   ; C = 1377823)             Branch 0.0       
     Working Unifies: 7973204                         Bindings added: 917575


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((ON WHEEL2 HUB) (TIGHT NUTS WHEEL2) (IN JACK BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
            (IN WHEEL1 BOOT)) 

SNLP ():


Initial  : ((ON-GROUND WHEEL1) (TIGHT NUTS WHEEL1) (CLOSED BOOT)
            (IN JACK BOOT) (FLAT WHEEL1) (IN WHEEL2 BOOT) (ON WHEEL1 HUB)
            (ON-GROUND HUB) (INTACT WHEEL2) (IN WRENCH BOOT) (FLAT WHEEL2)
            (IN PUMP BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)       Created 4 
Step 2   : (FETCH PUMP BOOT)   Created 17
Step 3   : (INFLATE WHEEL2)   Created 16
Step 4   : (PUT-AWAY PUMP BOOT)   Created 18
Step 5   : (FETCH WRENCH BOOT)   Created 8 
Step 6   : (FETCH JACK BOOT)   Created 3 
Step 7   : (FETCH WHEEL2 BOOT)   Created 9 
Step 8   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 2 
Step 10  : (UNDO NUTS WHEEL1)   Created 6 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 1 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 11
Step 16  : (PUT-AWAY JACK BOOT)   Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 10
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 14
Step 19  : (CLOSE BOOT)      Created 15

Goal     : ((ON WHEEL2 HUB) (TIGHT NUTS WHEEL2) (IN JACK BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
            (IN WHEEL1 BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 65017    
     Nodes (V = 4109; Q = 0   ; C = 9562)             Branch 0.0       
     Working Unifies: 18469                           Bindings added: 6393 

TOCL ():


Initial  : ((ON-GROUND WHEEL1) (TIGHT NUTS WHEEL1) (CLOSED BOOT)
            (IN JACK BOOT) (FLAT WHEEL1) (IN WHEEL2 BOOT) (ON WHEEL1 HUB)
            (ON-GROUND HUB) (INTACT WHEEL2) (IN WRENCH BOOT) (FLAT WHEEL2)
            (IN PUMP BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)      Created 4 
Step 2   : (FETCH PUMP BOOT)  Created 17
Step 3   : (INFLATE WHEEL2)  Created 16
Step 4   : (PUT-AWAY PUMP BOOT)  Created 18
Step 5   : (FETCH WHEEL2 BOOT)  Created 9 
Step 6   : (FETCH WRENCH BOOT)  Created 8 
Step 7   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 8   : (FETCH JACK BOOT)  Created 3 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 2 
Step 10  : (UNDO NUTS WHEEL1)  Created 6 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 1 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 11
Step 16  : (PUT-AWAY JACK BOOT)  Created 13
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 10
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 14
Step 19  : (CLOSE BOOT)     Created 15

Goal     : ((ON WHEEL2 HUB) (TIGHT NUTS WHEEL2) (IN JACK BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
            (IN WHEEL1 BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 110784   
     Nodes (V = 7257; Q = 0   ; C = 16353)             Branch 0.0       
     Working Unifies: 30963                           Bindings added: 10750


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (IN WRENCH BOOT) (IN JACK BOOT) (CLOSED BOOT)
            (ON WHEEL2 HUB) (IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)) 

SNLP ():


Initial  : ((IN PUMP BOOT) (INTACT WHEEL2) (ON-GROUND HUB) (UNLOCKED BOOT)
            (ON-GROUND WHEEL1) (IN WHEEL2 BOOT) (FLAT WHEEL1) (ON WHEEL1 HUB)
            (IN WRENCH BOOT) (TIGHT NUTS WHEEL1) (CLOSED BOOT) (FLAT WHEEL2)
            (IN JACK BOOT))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH PUMP BOOT)   Created 18
Step 3   : (INFLATE WHEEL2)   Created 17
Step 4   : (PUT-AWAY PUMP BOOT)   Created 19
Step 5   : (FETCH JACK BOOT)   Created 5 
Step 6   : (FETCH WRENCH BOOT)   Created 10
Step 7   : (FETCH WHEEL2 BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 16
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 14
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 13
Step 19  : (CLOSE BOOT)      Created 15

Goal     : ((TIGHT NUTS WHEEL2) (IN WRENCH BOOT) (IN JACK BOOT) (CLOSED BOOT)
            (ON WHEEL2 HUB) (IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 187916   
     Nodes (V = 11631; Q = 0   ; C = 26629)             Branch 0.0       
     Working Unifies: 49471                           Bindings added: 17448

TOCL ():


Initial  : ((IN PUMP BOOT) (INTACT WHEEL2) (ON-GROUND HUB) (UNLOCKED BOOT)
            (ON-GROUND WHEEL1) (IN WHEEL2 BOOT) (FLAT WHEEL1) (ON WHEEL1 HUB)
            (IN WRENCH BOOT) (TIGHT NUTS WHEEL1) (CLOSED BOOT) (FLAT WHEEL2)
            (IN JACK BOOT))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH PUMP BOOT)  Created 18
Step 3   : (INFLATE WHEEL2)  Created 17
Step 4   : (PUT-AWAY PUMP BOOT)  Created 19
Step 5   : (FETCH WHEEL2 BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (FETCH JACK BOOT)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 16
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (PUT-AWAY JACK BOOT)  Created 14
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 13
Step 19  : (CLOSE BOOT)     Created 15

Goal     : ((TIGHT NUTS WHEEL2) (IN WRENCH BOOT) (IN JACK BOOT) (CLOSED BOOT)
            (ON WHEEL2 HUB) (IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 291000   
     Nodes (V = 20140; Q = 0   ; C = 43920)             Branch 0.0       
     Working Unifies: 79577                           Bindings added: 27621


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (TIGHT NUTS WHEEL2)
            (CLOSED BOOT) (ON WHEEL2 HUB) (IN WRENCH BOOT) (IN PUMP BOOT)
            (IN JACK BOOT)) 

SNLP ():


Initial  : ((FLAT WHEEL1) (TIGHT NUTS WHEEL1) (INTACT WHEEL2)
            (ON-GROUND WHEEL1) (FLAT WHEEL2) (IN WHEEL2 BOOT) (IN WRENCH BOOT)
            (IN PUMP BOOT) (UNLOCKED BOOT) (ON-GROUND HUB) (IN JACK BOOT)
            (ON WHEEL1 HUB) (CLOSED BOOT))

Step 1   : (OPEN BOOT)       Created 2 
Step 2   : (FETCH JACK BOOT)   Created 8 
Step 3   : (FETCH PUMP BOOT)   Created 10
Step 4   : (INFLATE WHEEL2)   Created 9 
Step 5   : (PUT-AWAY PUMP BOOT)   Created 18
Step 6   : (FETCH WRENCH BOOT)   Created 6 
Step 7   : (FETCH WHEEL2 BOOT)   Created 14
Step 8   : (LOOSEN NUTS WHEEL1)   Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 10  : (UNDO NUTS WHEEL1)   Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 3 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 1 
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 13
Step 14  : (DO-UP NUTS WHEEL2)   Created 15
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 12
Step 16  : (PUT-AWAY JACK BOOT)   Created 19
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 11
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 17
Step 19  : (CLOSE BOOT)      Created 16

Goal     : ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (TIGHT NUTS WHEEL2)
            (CLOSED BOOT) (ON WHEEL2 HUB) (IN WRENCH BOOT) (IN PUMP BOOT)
            (IN JACK BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 33300    
     Nodes (V = 2154; Q = 0   ; C = 4533)             Branch 0.0       
     Working Unifies: 8744                            Bindings added: 2871 

TOCL ():


Initial  : ((FLAT WHEEL1) (TIGHT NUTS WHEEL1) (INTACT WHEEL2)
            (ON-GROUND WHEEL1) (FLAT WHEEL2) (IN WHEEL2 BOOT) (IN WRENCH BOOT)
            (IN PUMP BOOT) (UNLOCKED BOOT) (ON-GROUND HUB) (IN JACK BOOT)
            (ON WHEEL1 HUB) (CLOSED BOOT))

Step 1   : (OPEN BOOT)      Created 2 
Step 2   : (FETCH WHEEL2 BOOT)  Created 14
Step 3   : (FETCH PUMP BOOT)  Created 10
Step 4   : (INFLATE WHEEL2)  Created 9 
Step 5   : (PUT-AWAY PUMP BOOT)  Created 18
Step 6   : (FETCH JACK BOOT)  Created 8 
Step 7   : (FETCH WRENCH BOOT)  Created 6 
Step 8   : (LOOSEN NUTS WHEEL1)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 7 
Step 10  : (UNDO NUTS WHEEL1)  Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 3 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 13
Step 13  : (DO-UP NUTS WHEEL2)  Created 15
Step 14  : (JACK-DOWN WHEEL2 HUB)  Created 12
Step 15  : (PUT-AWAY JACK BOOT)  Created 19
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 11
Step 17  : (PUT-AWAY WRENCH BOOT)  Created 17
Step 18  : (PUT-AWAY WHEEL1 BOOT)  Created 1 
Step 19  : (CLOSE BOOT)     Created 16

Goal     : ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (TIGHT NUTS WHEEL2)
            (CLOSED BOOT) (ON WHEEL2 HUB) (IN WRENCH BOOT) (IN PUMP BOOT)
            (IN JACK BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 97067    
     Nodes (V = 5982; Q = 0   ; C = 13210)             Branch 0.0       
     Working Unifies: 23911                           Bindings added: 8234 


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT) (IN JACK BOOT) (TIGHT NUTS WHEEL2)
            (IN PUMP BOOT)) 

SNLP ():


Initial  : ((CLOSED BOOT) (ON WHEEL1 HUB) (IN PUMP BOOT) (IN WHEEL2 BOOT)
            (UNLOCKED BOOT) (IN WRENCH BOOT) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
            (ON-GROUND WHEEL1) (IN JACK BOOT) (FLAT WHEEL1) (INTACT WHEEL2)
            (ON-GROUND HUB))

Step 1   : (OPEN BOOT)       Created 3 
Step 2   : (FETCH PUMP BOOT)   Created 2 
Step 3   : (FETCH WRENCH BOOT)   Created 8 
Step 4   : (FETCH JACK BOOT)   Created 10
Step 5   : (FETCH WHEEL2 BOOT)   Created 12
Step 6   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 9 
Step 8   : (UNDO NUTS WHEEL1)   Created 6 
Step 9   : (INFLATE WHEEL2)   Created 1 
Step 10  : (PUT-AWAY PUMP BOOT)   Created 19
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 11
Step 13  : (DO-UP NUTS WHEEL2)   Created 18
Step 14  : (JACK-DOWN WHEEL2 HUB)   Created 16
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 17
Step 16  : (PUT-AWAY JACK BOOT)   Created 15
Step 17  : (PUT-AWAY WHEEL1 BOOT)   Created 4 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 13
Step 19  : (CLOSE BOOT)      Created 14

Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT) (IN JACK BOOT) (TIGHT NUTS WHEEL2)
            (IN PUMP BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 40933    
     Nodes (V = 2823; Q = 0   ; C = 5749)             Branch 0.0       
     Working Unifies: 13178                           Bindings added: 3400 

TOCL ():


Initial  : ((CLOSED BOOT) (ON WHEEL1 HUB) (IN PUMP BOOT) (IN WHEEL2 BOOT)
            (UNLOCKED BOOT) (IN WRENCH BOOT) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
            (ON-GROUND WHEEL1) (IN JACK BOOT) (FLAT WHEEL1) (INTACT WHEEL2)
            (ON-GROUND HUB))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH WHEEL2 BOOT)  Created 12
Step 3   : (FETCH JACK BOOT)  Created 10
Step 4   : (FETCH WRENCH BOOT)  Created 8 
Step 5   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 9 
Step 7   : (UNDO NUTS WHEEL1)  Created 6 
Step 8   : (PUT-AWAY WRENCH BOOT)  Created 13
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 10  : (PUT-ON-WHEEL ?Y19 ?Y20)  Created 20
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 11
Step 12  : (JACK-DOWN WHEEL2 HUB)  Created 16
Step 13  : (PUT-AWAY WHEEL1 BOOT)  Created 4 
Step 14  : (PUT-AWAY JACK BOOT)  Created 15
Step 15  : (PUT-ON-WHEEL WHEEL2 ?Y19)  Created 19
Step 16  : (FETCH PUMP BOOT)  Created 2 
Step 17  : (JACK-DOWN WHEEL2 ?Y19)  Created 18
Step 18  : (TIGHTEN NUTS WHEEL2)  Created 17
Step 19  : (CLOSE BOOT)     Created 14
Step 20  : (INFLATE WHEEL2)  Created 1 

Goal     : ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT) (IN JACK BOOT) (TIGHT NUTS WHEEL2)
            (IN PUMP BOOT))
Unsafe   : (((#S(PLAN-STEP :ID 5 :ACTION (REMOVE-WHEEL ?X5 ?Y5)
                           :PRECOND
                           ((OFF-GROUND ?X5) (OFF-GROUND ?Y5) (ON ?X5 ?Y5)
                            (UNFASTENED ?X5))
                           :ADD ((HAVE ?X5) (FREE ?Y5))
                           :DELE
                           ((OFF-GROUND ?X5) (ON ?X5 ?Y5) (UNFASTENED ?X5)))
              (FREE HUB)
              #S(PLAN-STEP :ID 11 :ACTION (PUT-ON-WHEEL ?X11 ?Y11)
                           :PRECOND
                           ((HAVE ?X11) (FREE ?Y11) (OFF-GROUND ?Y11))
                           :ADD
                           ((OFF-GROUND ?X11) (ON ?X11 ?Y11)
                            (UNFASTENED ?X11))
                           :DELE ((HAVE ?X11) (FREE ?Y11))))
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((#S(PLAN-STEP :ID 8 :ACTION (FETCH ?X8 ?Y8)
                           :PRECOND ((IN ?X8 ?Y8) (OPEN ?Y8))
                           :ADD ((HAVE ?X8)) :DELE ((IN ?X8 ?Y8)))
              (HAVE WRENCH)
              #S(PLAN-STEP :ID 13 :ACTION (PUT-AWAY ?X13 ?Y13)
                           :PRECOND ((HAVE ?X13) (OPEN ?Y13))
                           :ADD ((IN ?X13 ?Y13)) :DELE ((HAVE ?X13))))
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((#S(PLAN-STEP :ID 16 :ACTION (JACK-DOWN ?X16 ?Y16)
                           :PRECOND
                           ((OFF-GROUND ?X16) (OFF-GROUND ?Y16)
                            (ON ?X16 ?Y16))
                           :ADD
                           ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))
                           :DELE ((OFF-GROUND ?X16) (OFF-GROUND ?Y16)))
              (HAVE JACK)
              #S(PLAN-STEP :ID 15 :ACTION (PUT-AWAY ?X15 ?Y15)
                           :PRECOND ((HAVE ?X15) (OPEN ?Y15))
                           :ADD ((IN ?X15 ?Y15)) :DELE ((HAVE ?X15))))
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))) 
Open     : (((OFF-GROUND ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((FREE ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((HAVE ?Y19)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((FREE ?Y19)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((HAVE WHEEL2)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((OFF-GROUND ?Y19)
             #S(PLAN-STEP :ID 18 :ACTION (JACK-DOWN ?X18 ?Y18)
                          :PRECOND
                          ((OFF-GROUND ?X18) (OFF-GROUND ?Y18) (ON ?X18 ?Y18))
                          :ADD ((ON-GROUND ?X18) (ON-GROUND ?Y18) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X18) (OFF-GROUND ?Y18))))
            ((OFF-GROUND WHEEL2)
             #S(PLAN-STEP :ID 18 :ACTION (JACK-DOWN ?X18 ?Y18)
                          :PRECOND
                          ((OFF-GROUND ?X18) (OFF-GROUND ?Y18) (ON ?X18 ?Y18))
                          :ADD ((ON-GROUND ?X18) (ON-GROUND ?Y18) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X18) (OFF-GROUND ?Y18))))
            ((LOOSE NUTS WHEEL2)
             #S(PLAN-STEP :ID 17 :ACTION (TIGHTEN ?X17 ?Y17)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X17 ?Y17) (ON-GROUND ?Y17))
                          :ADD ((TIGHT ?X17 ?Y17)) :DELE ((LOOSE ?X17 ?Y17))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 17 :ACTION (TIGHTEN ?X17 ?Y17)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X17 ?Y17) (ON-GROUND ?Y17))
                          :ADD ((TIGHT ?X17 ?Y17)) :DELE ((LOOSE ?X17 ?Y17))))
            ((IN PUMP BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((INFLATED WHEEL2) (IN WHEEL1 BOOT) (ON WHEEL2 HUB)
                           (IN WRENCH BOOT) (CLOSED BOOT) (IN JACK BOOT)
                           (TIGHT NUTS WHEEL2) (IN PUMP BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 11171617 
     Nodes (V = 637217; Q = 0   ; C = 1340475)             Branch 0.0       
     Working Unifies: 6202664                         Bindings added: 775435

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT)) 

SNLP ():


Initial  : ((UNLOCKED BOOT) (IN WRENCH BOOT) (FLAT WHEEL1) (IN JACK BOOT)
            (FLAT WHEEL2) (IN WHEEL2 BOOT) (IN PUMP BOOT) (INTACT WHEEL2)
            (TIGHT NUTS WHEEL1) (CLOSED BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB)
            (ON-GROUND WHEEL1))

Step 1   : (OPEN BOOT)       Created 2 
Step 2   : (FETCH JACK BOOT)   Created 8 
Step 3   : (FETCH WRENCH BOOT)   Created 6 
Step 4   : (FETCH WHEEL2 BOOT)   Created 13
Step 5   : (FETCH PUMP BOOT)   Created 10
Step 6   : (INFLATE WHEEL2)   Created 9 
Step 7   : (PUT-AWAY PUMP BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 10  : (UNDO NUTS WHEEL1)   Created 4 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 3 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 12
Step 13  : (DO-UP NUTS WHEEL2)   Created 18
Step 14  : (JACK-DOWN WHEEL2 HUB)   Created 17
Step 15  : (PUT-AWAY JACK BOOT)   Created 19
Step 16  : (TIGHTEN NUTS WHEEL2)   Created 16
Step 17  : (PUT-AWAY WHEEL1 BOOT)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 14
Step 19  : (CLOSE BOOT)      Created 15

Goal     : ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 36217    
     Nodes (V = 2170; Q = 0   ; C = 4544)             Branch 0.0       
     Working Unifies: 8766                            Bindings added: 2866 

TOCL ():


Initial  : ((UNLOCKED BOOT) (IN WRENCH BOOT) (FLAT WHEEL1) (IN JACK BOOT)
            (FLAT WHEEL2) (IN WHEEL2 BOOT) (IN PUMP BOOT) (INTACT WHEEL2)
            (TIGHT NUTS WHEEL1) (CLOSED BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB)
            (ON-GROUND WHEEL1))

Step 1   : (OPEN BOOT)      Created 2 
Step 2   : (FETCH WHEEL2 BOOT)  Created 13
Step 3   : (FETCH PUMP BOOT)  Created 10
Step 4   : (INFLATE WHEEL2)  Created 9 
Step 5   : (PUT-AWAY PUMP BOOT)  Created 11
Step 6   : (FETCH JACK BOOT)  Created 8 
Step 7   : (FETCH WRENCH BOOT)  Created 6 
Step 8   : (LOOSEN NUTS WHEEL1)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 7 
Step 10  : (UNDO NUTS WHEEL1)  Created 4 
Step 11  : (PUT-ON-WHEEL ?Y19 ?Y20)  Created 20
Step 12  : (PUT-AWAY WRENCH BOOT)  Created 14
Step 13  : (REMOVE-WHEEL WHEEL1 HUB)  Created 3 
Step 14  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 12
Step 15  : (PUT-ON-WHEEL ?Y18 ?Y19)  Created 19
Step 16  : (PUT-AWAY WHEEL1 BOOT)  Created 1 
Step 17  : (PUT-ON-WHEEL WHEEL2 ?Y18)  Created 18
Step 18  : (JACK-DOWN WHEEL2 HUB)  Created 17
Step 19  : (CLOSE BOOT)     Created 15
Step 20  : (TIGHTEN NUTS WHEEL2)  Created 16

Goal     : ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB)
            (IN WRENCH BOOT) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT))
Unsafe   : NIL 
Open     : (((OFF-GROUND ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((FREE ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((HAVE ?Y19)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((FREE ?Y19)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((HAVE ?Y18)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((FREE ?Y18)
             #S(PLAN-STEP :ID 18 :ACTION (PUT-ON-WHEEL ?X18 ?Y18)
                          :PRECOND ((HAVE ?X18) (FREE ?Y18) (OFF-GROUND ?Y18))
                          :ADD
                          ((OFF-GROUND ?X18) (ON ?X18 ?Y18) (UNFASTENED ?X18))
                          :DELE ((HAVE ?X18) (FREE ?Y18))))
            ((HAVE WHEEL2)
             #S(PLAN-STEP :ID 18 :ACTION (PUT-ON-WHEEL ?X18 ?Y18)
                          :PRECOND ((HAVE ?X18) (FREE ?Y18) (OFF-GROUND ?Y18))
                          :ADD
                          ((OFF-GROUND ?X18) (ON ?X18 ?Y18) (UNFASTENED ?X18))
                          :DELE ((HAVE ?X18) (FREE ?Y18))))
            ((LOOSE NUTS WHEEL2)
             #S(PLAN-STEP :ID 16 :ACTION (TIGHTEN ?X16 ?Y16)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X16 ?Y16) (ON-GROUND ?Y16))
                          :ADD ((TIGHT ?X16 ?Y16)) :DELE ((LOOSE ?X16 ?Y16))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 16 :ACTION (TIGHTEN ?X16 ?Y16)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X16 ?Y16) (ON-GROUND ?Y16))
                          :ADD ((TIGHT ?X16 ?Y16)) :DELE ((LOOSE ?X16 ?Y16))))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
                           (ON WHEEL2 HUB) (IN WRENCH BOOT) (CLOSED BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 10939233 
     Nodes (V = 629261; Q = 0   ; C = 1316723)             Branch 0.0       
     Working Unifies: 5193040                         Bindings added: 749670


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (CLOSED BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
            (IN JACK BOOT)) 

SNLP ():


Initial  : ((IN WHEEL2 BOOT) (ON-GROUND HUB) (IN PUMP BOOT) (FLAT WHEEL1)
            (ON-GROUND WHEEL1) (ON WHEEL1 HUB) (IN JACK BOOT) (IN WRENCH BOOT)
            (UNLOCKED BOOT) (TIGHT NUTS WHEEL1) (CLOSED BOOT) (FLAT WHEEL2)
            (INTACT WHEEL2))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH JACK BOOT)   Created 5 
Step 3   : (FETCH PUMP BOOT)   Created 14
Step 4   : (INFLATE WHEEL2)   Created 13
Step 5   : (PUT-AWAY PUMP BOOT)   Created 18
Step 6   : (FETCH WRENCH BOOT)   Created 10
Step 7   : (FETCH WHEEL2 BOOT)   Created 11
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 16
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 19
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 17
Step 19  : (CLOSE BOOT)      Created 15

Goal     : ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (CLOSED BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
            (IN JACK BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 188850   
     Nodes (V = 11630; Q = 0   ; C = 26631)             Branch 0.0       
     Working Unifies: 49485                           Bindings added: 17448

TOCL ():


Initial  : ((IN WHEEL2 BOOT) (ON-GROUND HUB) (IN PUMP BOOT) (FLAT WHEEL1)
            (ON-GROUND WHEEL1) (ON WHEEL1 HUB) (IN JACK BOOT) (IN WRENCH BOOT)
            (UNLOCKED BOOT) (TIGHT NUTS WHEEL1) (CLOSED BOOT) (FLAT WHEEL2)
            (INTACT WHEEL2))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (DO-UP ?X18 WHEEL1)  Created 19
Step 3   : (UNDO ?X18 WHEEL1)  Created 18
Step 4   : (FETCH PUMP BOOT)  Created 14
Step 5   : (INFLATE WHEEL2)  Created 13
Step 6   : (FETCH WHEEL2 BOOT)  Created 11
Step 7   : (FETCH WRENCH BOOT)  Created 10
Step 8   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 9   : (REMOVE-WHEEL WHEEL1 ?Y17)  Created 17
Step 10  : (FETCH JACK BOOT)  Created 5 
Step 11  : (JACK-UP WHEEL1 HUB)  Created 4 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 16
Step 13  : (CLOSE BOOT)     Created 15
Step 14  : (UNDO NUTS WHEEL1)  Created 8 
Step 15  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 16  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 17  : (DO-UP NUTS WHEEL2)  Created 12
Step 18  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 19  : (TIGHTEN NUTS WHEEL2)  Created 1 

Goal     : ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (CLOSED BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
            (IN JACK BOOT))
Unsafe   : NIL 
Open     : (((UNFASTENED WHEEL1)
             #S(PLAN-STEP :ID 19 :ACTION (DO-UP ?X19 ?Y19)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y19) (HAVE ?X19)
                           (UNFASTENED ?Y19))
                          :ADD ((LOOSE ?X19 ?Y19))
                          :DELE ((HAVE ?X19) (UNFASTENED ?Y19))))
            ((HAVE ?X18)
             #S(PLAN-STEP :ID 19 :ACTION (DO-UP ?X19 ?Y19)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y19) (HAVE ?X19)
                           (UNFASTENED ?Y19))
                          :ADD ((LOOSE ?X19 ?Y19))
                          :DELE ((HAVE ?X19) (UNFASTENED ?Y19))))
            ((OFF-GROUND WHEEL1)
             #S(PLAN-STEP :ID 19 :ACTION (DO-UP ?X19 ?Y19)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y19) (HAVE ?X19)
                           (UNFASTENED ?Y19))
                          :ADD ((LOOSE ?X19 ?Y19))
                          :DELE ((HAVE ?X19) (UNFASTENED ?Y19))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 19 :ACTION (DO-UP ?X19 ?Y19)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y19) (HAVE ?X19)
                           (UNFASTENED ?Y19))
                          :ADD ((LOOSE ?X19 ?Y19))
                          :DELE ((HAVE ?X19) (UNFASTENED ?Y19))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 18 :ACTION (UNDO ?X18 ?Y18)
                          :PRECOND
                          ((OFF-GROUND ?Y18) (HAVE WRENCH) (LOOSE ?X18 ?Y18))
                          :ADD ((HAVE ?X18) (UNFASTENED ?Y18))
                          :DELE ((LOOSE ?X18 ?Y18))))
            ((OFF-GROUND WHEEL1)
             #S(PLAN-STEP :ID 18 :ACTION (UNDO ?X18 ?Y18)
                          :PRECOND
                          ((OFF-GROUND ?Y18) (HAVE WRENCH) (LOOSE ?X18 ?Y18))
                          :ADD ((HAVE ?X18) (UNFASTENED ?Y18))
                          :DELE ((LOOSE ?X18 ?Y18))))
            ((ON WHEEL1 ?Y17)
             #S(PLAN-STEP :ID 17 :ACTION (REMOVE-WHEEL ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?X17) (OFF-GROUND ?Y17) (ON ?X17 ?Y17)
                           (UNFASTENED ?X17))
                          :ADD ((HAVE ?X17) (FREE ?Y17))
                          :DELE
                          ((OFF-GROUND ?X17) (ON ?X17 ?Y17)
                           (UNFASTENED ?X17))))
            ((OFF-GROUND ?Y17)
             #S(PLAN-STEP :ID 17 :ACTION (REMOVE-WHEEL ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?X17) (OFF-GROUND ?Y17) (ON ?X17 ?Y17)
                           (UNFASTENED ?X17))
                          :ADD ((HAVE ?X17) (FREE ?Y17))
                          :DELE
                          ((OFF-GROUND ?X17) (ON ?X17 ?Y17)
                           (UNFASTENED ?X17))))
            ((OFF-GROUND WHEEL1)
             #S(PLAN-STEP :ID 17 :ACTION (REMOVE-WHEEL ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?X17) (OFF-GROUND ?Y17) (ON ?X17 ?Y17)
                           (UNFASTENED ?X17))
                          :ADD ((HAVE ?X17) (FREE ?Y17))
                          :DELE
                          ((OFF-GROUND ?X17) (ON ?X17 ?Y17)
                           (UNFASTENED ?X17))))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
                           (ON WHEEL2 HUB) (CLOSED BOOT) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (IN PUMP BOOT) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((IN PUMP BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
                           (ON WHEEL2 HUB) (CLOSED BOOT) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (IN PUMP BOOT) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
                           (ON WHEEL2 HUB) (CLOSED BOOT) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (IN PUMP BOOT) (IN JACK BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (19 steps)     CPU 12669750 
     Nodes (V = 578847; Q = 0   ; C = 1355776)             Branch 0.0       
     Working Unifies: 3417103                         Bindings added: 990285


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (IN PUMP BOOT) (CLOSED BOOT) (IN WRENCH BOOT) (IN JACK BOOT)
            (IN WHEEL1 BOOT)) 

SNLP ():


Initial  : ((UNLOCKED BOOT) (ON-GROUND WHEEL1) (ON WHEEL1 HUB) (IN PUMP BOOT)
            (FLAT WHEEL2) (ON-GROUND HUB) (IN WHEEL2 BOOT) (CLOSED BOOT)
            (INTACT WHEEL2) (FLAT WHEEL1) (TIGHT NUTS WHEEL1) (IN JACK BOOT)
            (IN WRENCH BOOT))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH JACK BOOT)   Created 5 
Step 3   : (FETCH WRENCH BOOT)   Created 10
Step 4   : (FETCH WHEEL2 BOOT)   Created 11
Step 5   : (FETCH PUMP BOOT)   Created 14
Step 6   : (INFLATE WHEEL2)   Created 13
Step 7   : (PUT-AWAY PUMP BOOT)   Created 15
Step 8   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 10  : (UNDO NUTS WHEEL1)   Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)   Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 14  : (DO-UP NUTS WHEEL2)   Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (PUT-AWAY JACK BOOT)   Created 18
Step 17  : (TIGHTEN NUTS WHEEL2)   Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)   Created 17
Step 19  : (CLOSE BOOT)      Created 16

Goal     : ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (IN PUMP BOOT) (CLOSED BOOT) (IN WRENCH BOOT) (IN JACK BOOT)
            (IN WHEEL1 BOOT))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 189850   
     Nodes (V = 11631; Q = 0   ; C = 26631)             Branch 0.0       
     Working Unifies: 49478                           Bindings added: 17448

TOCL ():


Initial  : ((UNLOCKED BOOT) (ON-GROUND WHEEL1) (ON WHEEL1 HUB) (IN PUMP BOOT)
            (FLAT WHEEL2) (ON-GROUND HUB) (IN WHEEL2 BOOT) (CLOSED BOOT)
            (INTACT WHEEL2) (FLAT WHEEL1) (TIGHT NUTS WHEEL1) (IN JACK BOOT)
            (IN WRENCH BOOT))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH PUMP BOOT)  Created 14
Step 3   : (INFLATE WHEEL2)  Created 13
Step 4   : (PUT-AWAY PUMP BOOT)  Created 15
Step 5   : (FETCH WHEEL2 BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (FETCH JACK BOOT)  Created 5 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 19
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 14  : (DO-UP NUTS WHEEL2)  Created 12
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (PUT-AWAY JACK BOOT)  Created 18
Step 17  : (TIGHTEN NUTS WHEEL2)  Created 1 
Step 18  : (PUT-AWAY WRENCH BOOT)  Created 17
Step 19  : (CLOSE BOOT)     Created 16

Goal     : ((TIGHT NUTS WHEEL2) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (IN PUMP BOOT) (CLOSED BOOT) (IN WRENCH BOOT) (IN JACK BOOT)
            (IN WHEEL1 BOOT))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 291750   
     Nodes (V = 20293; Q = 0   ; C = 44175)             Branch 0.0       
     Working Unifies: 80499                           Bindings added: 27670


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((ON WHEEL2 HUB) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
            (INFLATED WHEEL2) (CLOSED BOOT) (IN JACK BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2)) 

SNLP ():


Initial  : ((IN JACK BOOT) (ON-GROUND WHEEL1) (CLOSED BOOT) (IN WHEEL2 BOOT)
            (FLAT WHEEL1) (ON WHEEL1 HUB) (FLAT WHEEL2) (ON-GROUND HUB)
            (INTACT WHEEL2) (IN WRENCH BOOT) (TIGHT NUTS WHEEL1)
            (IN PUMP BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)       Created 4 
Step 2   : (FETCH WRENCH BOOT)   Created 8 
Step 3   : (FETCH PUMP BOOT)   Created 13
Step 4   : (INFLATE WHEEL2)   Created 12
Step 5   : (PUT-AWAY PUMP BOOT)   Created 17
Step 6   : (FETCH JACK BOOT)   Created 3 
Step 7   : (FETCH WHEEL2 BOOT)   Created 9 
Step 8   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 9   : (JACK-UP WHEEL1 HUB)   Created 2 
Step 10  : (UNDO NUTS WHEEL1)   Created 6 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 1 
Step 13  : (DO-UP NUTS WHEEL2)   Created 19
Step 14  : (JACK-DOWN WHEEL2 HUB)   Created 16
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 18
Step 16  : (PUT-AWAY JACK BOOT)   Created 15
Step 17  : (PUT-AWAY WRENCH BOOT)   Created 10
Step 18  : (PUT-AWAY WHEEL1 BOOT)   Created 11
Step 19  : (CLOSE BOOT)      Created 14

Goal     : ((ON WHEEL2 HUB) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
            (INFLATED WHEEL2) (CLOSED BOOT) (IN JACK BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 65916    
     Nodes (V = 4137; Q = 0   ; C = 9608)             Branch 0.0       
     Working Unifies: 18731                           Bindings added: 6405 

TOCL ():


Initial  : ((IN JACK BOOT) (ON-GROUND WHEEL1) (CLOSED BOOT) (IN WHEEL2 BOOT)
            (FLAT WHEEL1) (ON WHEEL1 HUB) (FLAT WHEEL2) (ON-GROUND HUB)
            (INTACT WHEEL2) (IN WRENCH BOOT) (TIGHT NUTS WHEEL1)
            (IN PUMP BOOT) (UNLOCKED BOOT))

Step 1   : (PUT-ON-WHEEL ?Y19 ?Y20)  Created 20
Step 2   : (OPEN BOOT)      Created 4 
Step 3   : (FETCH PUMP BOOT)  Created 13
Step 4   : (INFLATE WHEEL2)  Created 12
Step 5   : (PUT-ON-WHEEL ?X18 ?Y19)  Created 19
Step 6   : (FETCH WHEEL2 BOOT)  Created 9 
Step 7   : (FETCH WRENCH BOOT)  Created 8 
Step 8   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 9   : (FETCH JACK BOOT)  Created 3 
Step 10  : (JACK-UP WHEEL1 HUB)  Created 2 
Step 11  : (JACK-DOWN ?X18 ?Y19)  Created 18
Step 12  : (UNDO NUTS WHEEL1)  Created 6 
Step 13  : (PUT-AWAY WRENCH BOOT)  Created 10
Step 14  : (PUT-AWAY JACK BOOT)  Created 17
Step 15  : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 16  : (FETCH JACK BOOT)  Created 16
Step 17  : (PUT-AWAY JACK BOOT)  Created 15
Step 18  : (PUT-AWAY WHEEL1 BOOT)  Created 11
Step 19  : (CLOSE BOOT)     Created 14
Step 20  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 1 

Goal     : ((ON WHEEL2 HUB) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
            (INFLATED WHEEL2) (CLOSED BOOT) (IN JACK BOOT) (IN PUMP BOOT)
            (TIGHT NUTS WHEEL2))
Unsafe   : (((#S(PLAN-STEP :ID 13 :ACTION (FETCH ?X13 ?Y13)
                           :PRECOND ((IN ?X13 ?Y13) (OPEN ?Y13))
                           :ADD ((HAVE ?X13)) :DELE ((IN ?X13 ?Y13)))
              (HAVE PUMP)
              #S(PLAN-STEP :ID 12 :ACTION (INFLATE ?X12)
                           :PRECOND ((HAVE PUMP) (FLAT ?X12) (INTACT ?X12))
                           :ADD ((INFLATED ?X12)) :DELE ((FLAT ?X12))))
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))) 
Open     : (((OFF-GROUND ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((FREE ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((HAVE ?Y19)
             #S(PLAN-STEP :ID 20 :ACTION (PUT-ON-WHEEL ?X20 ?Y20)
                          :PRECOND ((HAVE ?X20) (FREE ?Y20) (OFF-GROUND ?Y20))
                          :ADD
                          ((OFF-GROUND ?X20) (ON ?X20 ?Y20) (UNFASTENED ?X20))
                          :DELE ((HAVE ?X20) (FREE ?Y20))))
            ((FREE ?Y19)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((HAVE ?X18)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((OFF-GROUND ?Y19)
             #S(PLAN-STEP :ID 18 :ACTION (JACK-DOWN ?X18 ?Y18)
                          :PRECOND
                          ((OFF-GROUND ?X18) (OFF-GROUND ?Y18) (ON ?X18 ?Y18))
                          :ADD ((ON-GROUND ?X18) (ON-GROUND ?Y18) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X18) (OFF-GROUND ?Y18))))
            ((OFF-GROUND ?X18)
             #S(PLAN-STEP :ID 18 :ACTION (JACK-DOWN ?X18 ?Y18)
                          :PRECOND
                          ((OFF-GROUND ?X18) (OFF-GROUND ?Y18) (ON ?X18 ?Y18))
                          :ADD ((ON-GROUND ?X18) (ON-GROUND ?Y18) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X18) (OFF-GROUND ?Y18))))
            ((IN PUMP BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (CLOSED BOOT) (IN JACK BOOT)
                           (IN PUMP BOOT) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL))
            ((TIGHT NUTS WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (CLOSED BOOT) (IN JACK BOOT)
                           (IN PUMP BOOT) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 12565883 
     Nodes (V = 611644; Q = 0   ; C = 1374908)             Branch 0.0       
     Working Unifies: 4244504                         Bindings added: 799107


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB) (IN JACK BOOT)
            (IN WHEEL1 BOOT) (IN WRENCH BOOT) (CLOSED BOOT)
            (TIGHT NUTS WHEEL2)) 

SNLP ():


Initial  : ((IN PUMP BOOT) (IN JACK BOOT) (FLAT WHEEL2) (IN WRENCH BOOT)
            (ON-GROUND WHEEL1) (FLAT WHEEL1) (TIGHT NUTS WHEEL1)
            (ON-GROUND HUB) (CLOSED BOOT) (INTACT WHEEL2) (ON WHEEL1 HUB)
            (IN WHEEL2 BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)       Created 3 
Step 2   : (FETCH WRENCH BOOT)   Created 11
Step 3   : (FETCH JACK BOOT)   Created 7 
Step 4   : (FETCH WHEEL2 BOOT)   Created 12
Step 5   : (LOOSEN NUTS WHEEL1)   Created 10
Step 6   : (JACK-UP WHEEL1 HUB)   Created 6 
Step 7   : (FETCH PUMP BOOT)   Created 2 
Step 8   : (UNDO NUTS WHEEL1)   Created 9 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 8 
Step 10  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 5 
Step 11  : (DO-UP NUTS WHEEL2)   Created 19
Step 12  : (JACK-DOWN WHEEL2 HUB)   Created 14
Step 13  : (TIGHTEN NUTS WHEEL2)   Created 18
Step 14  : (PUT-AWAY JACK BOOT)   Created 13
Step 15  : (PUT-AWAY WHEEL1 BOOT)   Created 15
Step 16  : (PUT-AWAY WRENCH BOOT)   Created 16
Step 17  : (INFLATE WHEEL2)   Created 1 
Step 18  : (PUT-AWAY PUMP BOOT)   Created 4 
Step 19  : (CLOSE BOOT)      Created 17

Goal     : ((INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB) (IN JACK BOOT)
            (IN WHEEL1 BOOT) (IN WRENCH BOOT) (CLOSED BOOT)
            (TIGHT NUTS WHEEL2))
Complete!

POCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 171984   
     Nodes (V = 11470; Q = 0   ; C = 25381)             Branch 0.0       
     Working Unifies: 62392                           Bindings added: 15936

TOCL ():


Initial  : ((IN PUMP BOOT) (IN JACK BOOT) (FLAT WHEEL2) (IN WRENCH BOOT)
            (ON-GROUND WHEEL1) (FLAT WHEEL1) (TIGHT NUTS WHEEL1)
            (ON-GROUND HUB) (CLOSED BOOT) (INTACT WHEEL2) (ON WHEEL1 HUB)
            (IN WHEEL2 BOOT) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH WHEEL2 BOOT)  Created 12
Step 3   : (FETCH WRENCH BOOT)  Created 11
Step 4   : (LOOSEN NUTS WHEEL1)  Created 10
Step 5   : (FETCH JACK BOOT)  Created 7 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 6 
Step 7   : (FETCH PUMP BOOT)  Created 2 
Step 8   : (UNDO NUTS WHEEL1)  Created 9 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)  Created 8 
Step 10  : (PUT-AWAY WHEEL1 BOOT)  Created 15
Step 11  : (INFLATE WHEEL2)  Created 1 
Step 12  : (PUT-AWAY PUMP BOOT)  Created 4 
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 5 
Step 14  : (DO-UP NUTS WHEEL2)  Created 19
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 14
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 18
Step 17  : (PUT-AWAY WRENCH BOOT)  Created 16
Step 18  : (PUT-AWAY JACK BOOT)  Created 13
Step 19  : (CLOSE BOOT)     Created 17

Goal     : ((INFLATED WHEEL2) (IN PUMP BOOT) (ON WHEEL2 HUB) (IN JACK BOOT)
            (IN WHEEL1 BOOT) (IN WRENCH BOOT) (CLOSED BOOT)
            (TIGHT NUTS WHEEL2))
Complete!

TOCL (Init = 13 ; Goals = 8 ) => Win  (19 steps)     CPU 5826817  
     Nodes (V = 403163; Q = 0   ; C = 833646)             Branch 0.0       
     Working Unifies: 2277267                         Bindings added: 481447
NIL

********************** Complete log of the third experiment ****************

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
            (IN WRENCH BOOT)) 

SNLP ():
Warning: 5008008 bytes have been tenured, next gc will be global.
See the documentation for variable *GLOBAL-GC-BEHAVIOR* for more information.


Initial  : ((INTACT WHEEL2) (UNLOCKED BOOT) (FLAT WHEEL2) (CLOSED BOOT)
            (ON WHEEL1 HUB) (IN WRENCH BOOT) (ON-GROUND WHEEL1) (IN JACK BOOT)
            (IN WHEEL2 BOOT) (FLAT WHEEL1) (IN PUMP BOOT) (TIGHT NUTS WHEEL1)
            (ON-GROUND HUB))

Step 1   : (TIGHTEN PUMP HUB)   Created 18
Step 2   : (OPEN BOOT)       Created 11
Step 3   : (FETCH JACK BOOT)   Created 13
Step 4   : (CLOSE BOOT)      Created 10
Step 5   : (OPEN BOOT)       Created 9 
Step 6   : (PUT-AWAY JACK BOOT)   Created 12
Step 7   : (FETCH JACK BOOT)   Created 8 
Step 8   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 9   : (JACK-DOWN WHEEL1 HUB)   Created 6 
Step 10  : (PUT-AWAY JACK BOOT)   Created 17
Step 11  : (FETCH JACK BOOT)   Created 16
Step 12  : (PUT-AWAY JACK BOOT)   Created 15
Step 13  : (FETCH JACK BOOT)   Created 14
Step 14  : (JACK-UP WHEEL1 HUB)   Created 5 
Step 15  : (JACK-DOWN WHEEL1 HUB)   Created 4 
Step 16  : (LOOSEN PUMP HUB)   Created 3 
Step 17  : (UNDO PUMP HUB)   Created 2 
Step 18  : (INFLATE WHEEL2)   Created 1 

Goal     : ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
            (IN WRENCH BOOT))
Unsafe   : (((0 (ON-GROUND HUB) 18) 4) ((0 (ON-GROUND HUB) 18) 5)
            ((0 (ON-GROUND HUB) 18) 6) ((0 (ON-GROUND HUB) 18) 7)) 
Open     : (((LOOSE PUMP HUB) 18) ((HAVE WRENCH) 18) ((HAVE WRENCH) 3)
            ((HAVE WRENCH) 2) ((OFF-GROUND HUB) 2) ((IN WHEEL1 BOOT) GOAL)
            ((TIGHT NUTS WHEEL2) GOAL) ((IN JACK BOOT) GOAL)
            ((ON WHEEL2 HUB) GOAL) ((CLOSED BOOT) GOAL)
            ((IN WRENCH BOOT) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (18 steps)     CPU 9469750  
     Nodes (V = 729497; Q = 0   ; C = 1415432)             Branch 0.0       
     Working Unifies: 3829398                         Bindings added: 712717

TOCL ():
Warning: 5000328 bytes have been tenured, next gc will be global.
See the documentation for variable *GLOBAL-GC-BEHAVIOR* for more information.


Initial  : ((INTACT WHEEL2) (UNLOCKED BOOT) (FLAT WHEEL2) (CLOSED BOOT)
            (ON WHEEL1 HUB) (IN WRENCH BOOT) (ON-GROUND WHEEL1) (IN JACK BOOT)
            (IN WHEEL2 BOOT) (FLAT WHEEL1) (IN PUMP BOOT) (TIGHT NUTS WHEEL1)
            (ON-GROUND HUB))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH WRENCH BOOT)  Created 12
Step 3   : (FETCH JACK BOOT)  Created 5 
Step 4   : (UNDO ?X14 PUMP)  Created 14
Step 5   : (PUT-AWAY WRENCH BOOT)  Created 11
Step 6   : (FETCH WRENCH BOOT)  Created 10
Step 7   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 8   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 9   : (REMOVE-WHEEL PUMP ?Y13)  Created 13
Step 10  : (UNDO NUTS WHEEL1)  Created 8 
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-ON-WHEEL PUMP HUB)  Created 3 
Step 13  : (REMOVE-WHEEL PUMP ?Y2)  Created 2 
Step 14  : (INFLATE WHEEL2)  Created 1 

Goal     : ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
            (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
            (IN WRENCH BOOT))
Unsafe   : NIL 
Open     : (((LOOSE ?X14 PUMP)
             #S(PLAN-STEP :ID 14 :ACTION (UNDO ?X14 ?Y14)
                          :PRECOND
                          ((OFF-GROUND ?Y14) (HAVE WRENCH) (LOOSE ?X14 ?Y14))
                          :ADD ((HAVE ?X14) (UNFASTENED ?Y14))
                          :DELE ((LOOSE ?X14 ?Y14))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 14 :ACTION (UNDO ?X14 ?Y14)
                          :PRECOND
                          ((OFF-GROUND ?Y14) (HAVE WRENCH) (LOOSE ?X14 ?Y14))
                          :ADD ((HAVE ?X14) (UNFASTENED ?Y14))
                          :DELE ((LOOSE ?X14 ?Y14))))
            ((OFF-GROUND PUMP)
             #S(PLAN-STEP :ID 14 :ACTION (UNDO ?X14 ?Y14)
                          :PRECOND
                          ((OFF-GROUND ?Y14) (HAVE WRENCH) (LOOSE ?X14 ?Y14))
                          :ADD ((HAVE ?X14) (UNFASTENED ?Y14))
                          :DELE ((LOOSE ?X14 ?Y14))))
            ((ON PUMP ?Y13)
             #S(PLAN-STEP :ID 13 :ACTION (REMOVE-WHEEL ?X13 ?Y13)
                          :PRECOND
                          ((OFF-GROUND ?X13) (OFF-GROUND ?Y13) (ON ?X13 ?Y13)
                           (UNFASTENED ?X13))
                          :ADD ((HAVE ?X13) (FREE ?Y13))
                          :DELE
                          ((OFF-GROUND ?X13) (ON ?X13 ?Y13)
                           (UNFASTENED ?X13))))
            ((OFF-GROUND ?Y13)
             #S(PLAN-STEP :ID 13 :ACTION (REMOVE-WHEEL ?X13 ?Y13)
                          :PRECOND
                          ((OFF-GROUND ?X13) (OFF-GROUND ?Y13) (ON ?X13 ?Y13)
                           (UNFASTENED ?X13))
                          :ADD ((HAVE ?X13) (FREE ?Y13))
                          :DELE
                          ((OFF-GROUND ?X13) (ON ?X13 ?Y13)
                           (UNFASTENED ?X13))))
            ((OFF-GROUND PUMP)
             #S(PLAN-STEP :ID 13 :ACTION (REMOVE-WHEEL ?X13 ?Y13)
                          :PRECOND
                          ((OFF-GROUND ?X13) (OFF-GROUND ?Y13) (ON ?X13 ?Y13)
                           (UNFASTENED ?X13))
                          :ADD ((HAVE ?X13) (FREE ?Y13))
                          :DELE
                          ((OFF-GROUND ?X13) (ON ?X13 ?Y13)
                           (UNFASTENED ?X13))))
            ((ON PUMP ?Y2)
             #S(PLAN-STEP :ID 2 :ACTION (REMOVE-WHEEL ?X2 ?Y2)
                          :PRECOND
                          ((OFF-GROUND ?X2) (OFF-GROUND ?Y2) (ON ?X2 ?Y2)
                           (UNFASTENED ?X2))
                          :ADD ((HAVE ?X2) (FREE ?Y2))
                          :DELE
                          ((OFF-GROUND ?X2) (ON ?X2 ?Y2) (UNFASTENED ?X2))))
            ((OFF-GROUND ?Y2)
             #S(PLAN-STEP :ID 2 :ACTION (REMOVE-WHEEL ?X2 ?Y2)
                          :PRECOND
                          ((OFF-GROUND ?X2) (OFF-GROUND ?Y2) (ON ?X2 ?Y2)
                           (UNFASTENED ?X2))
                          :ADD ((HAVE ?X2) (FREE ?Y2))
                          :DELE
                          ((OFF-GROUND ?X2) (ON ?X2 ?Y2) (UNFASTENED ?X2))))
            ((OFF-GROUND PUMP)
             #S(PLAN-STEP :ID 2 :ACTION (REMOVE-WHEEL ?X2 ?Y2)
                          :PRECOND
                          ((OFF-GROUND ?X2) (OFF-GROUND ?Y2) (ON ?X2 ?Y2)
                           (UNFASTENED ?X2))
                          :ADD ((HAVE ?X2) (FREE ?Y2))
                          :DELE
                          ((OFF-GROUND ?X2) (ON ?X2 ?Y2) (UNFASTENED ?X2))))
            ((IN WHEEL1 BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
                           (CLOSED BOOT) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((TIGHT NUTS WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
                           (CLOSED BOOT) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
                           (CLOSED BOOT) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
                           (CLOSED BOOT) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((CLOSED BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
                           (CLOSED BOOT) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT) (ON WHEEL2 HUB)
                           (CLOSED BOOT) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (14 steps)     CPU 12479133 
     Nodes (V = 572623; Q = 0   ; C = 1432800)             Branch 0.0       
     Working Unifies: 4010404                         Bindings added: 868179


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN PUMP BOOT) (TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
            (IN JACK BOOT) (CLOSED BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (ON WHEEL2 HUB)) 

SNLP ():


Initial  : ((INTACT WHEEL2) (ON WHEEL1 HUB) (FLAT WHEEL1) (IN JACK BOOT)
            (IN WRENCH BOOT) (IN PUMP BOOT) (IN WHEEL2 BOOT)
            (TIGHT NUTS WHEEL1) (FLAT WHEEL2) (ON-GROUND WHEEL1) (CLOSED BOOT)
            (ON-GROUND HUB) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH WHEEL2 BOOT)   Created 11
Step 3   : (FETCH WRENCH BOOT)   Created 10
Step 4   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 5   : (FETCH JACK BOOT)   Created 5 
Step 6   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 7   : (UNDO NUTS WHEEL1)   Created 8 
Step 8   : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 9   : (JACK-UP ?Y17 ?Y18)   Created 18
Step 10  : (PUT-ON-WHEEL ?Y16 ?Y17)   Created 17
Step 11  : (PUT-ON-WHEEL ?Y15 ?Y16)   Created 16
Step 12  : (PUT-ON-WHEEL PUMP ?Y15)   Created 15
Step 13  : (REMOVE-WHEEL PUMP ?Y14)   Created 14
Step 14  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 15  : (DO-UP NUTS WHEEL2)   Created 12
Step 16  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 17  : (INFLATE WHEEL2)   Created 13
Step 18  : (TIGHTEN NUTS WHEEL2)   Created 1 

Goal     : ((IN PUMP BOOT) (TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
            (IN JACK BOOT) (CLOSED BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (ON WHEEL2 HUB))
Unsafe   : (((4 (OFF-GROUND WHEEL1) 8) 18) ((0 (ON-GROUND WHEEL1) 9) 18)
            ((0 (ON-GROUND WHEEL1) 9) 18) ((0 (ON-GROUND WHEEL1) 4) 18)
            ((0 (ON-GROUND WHEEL1) 4) 18) ((0 (ON-GROUND HUB) 4) 18)
            ((4 (OFF-GROUND HUB) 3) 18) ((5 (HAVE JACK) 4) 18)
            ((18 (OFF-GROUND ?Y17) 17) 4) ((18 (OFF-GROUND ?Y17) 17) 7)) 
Open     : (((ON ?Y17 ?Y18) 18) ((ON-GROUND ?Y18) 18) ((ON-GROUND ?Y17) 18)
            ((HAVE JACK) 18) ((FREE ?Y17) 17) ((HAVE ?Y16) 17)
            ((FREE ?Y16) 16) ((HAVE ?Y15) 16) ((FREE ?Y15) 15)
            ((HAVE PUMP) 15) ((ON PUMP ?Y14) 14) ((OFF-GROUND ?Y14) 14)
            ((OFF-GROUND PUMP) 14) ((IN JACK BOOT) GOAL) ((CLOSED BOOT) GOAL)
            ((IN WHEEL1 BOOT) GOAL) ((IN WRENCH BOOT) GOAL)
            ((ON WHEEL2 HUB) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (18 steps)     CPU 9575150  
     Nodes (V = 722306; Q = 0   ; C = 1296279)             Branch 0.0       
     Working Unifies: 3951053                         Bindings added: 555931

TOCL ():


Initial  : ((INTACT WHEEL2) (ON WHEEL1 HUB) (FLAT WHEEL1) (IN JACK BOOT)
            (IN WRENCH BOOT) (IN PUMP BOOT) (IN WHEEL2 BOOT)
            (TIGHT NUTS WHEEL1) (FLAT WHEEL2) (ON-GROUND WHEEL1) (CLOSED BOOT)
            (ON-GROUND HUB) (UNLOCKED BOOT))

Step 1   : (OPEN BOOT)      Created 6 
Step 2   : (FETCH WHEEL2 BOOT)  Created 11
Step 3   : (FETCH WRENCH BOOT)  Created 10
Step 4   : (LOOSEN NUTS WHEEL1)  Created 9 
Step 5   : (FETCH JACK BOOT)  Created 5 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 4 
Step 7   : (JACK-UP ?X16 ?Y15)  Created 16
Step 8   : (PUT-ON-WHEEL PUMP ?Y15)  Created 15
Step 9   : (UNDO NUTS WHEEL1)  Created 8 
Step 10  : (REMOVE-WHEEL PUMP ?Y14)  Created 14
Step 11  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 12  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 13  : (DO-UP NUTS WHEEL2)  Created 12
Step 14  : (INFLATE WHEEL2)  Created 13
Step 15  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 16  : (TIGHTEN NUTS WHEEL2)  Created 1 

Goal     : ((IN PUMP BOOT) (TIGHT NUTS WHEEL2) (INFLATED WHEEL2)
            (IN JACK BOOT) (CLOSED BOOT) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (ON WHEEL2 HUB))
Unsafe   : (((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((INTACT WHEEL2) (ON WHEEL1 HUB) (FLAT WHEEL1)
                            (IN JACK BOOT) (IN WRENCH BOOT) (IN PUMP BOOT)
                            (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1) (FLAT WHEEL2)
                            (ON-GROUND WHEEL1) (CLOSED BOOT) (ON-GROUND HUB)
                            (UNLOCKED BOOT))
                           :DELE NIL)
              (ON-GROUND WHEEL1)
              #S(PLAN-STEP :ID 9 :ACTION (LOOSEN ?X9 ?Y9)
                           :PRECOND
                           ((HAVE WRENCH) (TIGHT ?X9 ?Y9) (ON-GROUND ?Y9))
                           :ADD ((LOOSE ?X9 ?Y9)) :DELE ((TIGHT ?X9 ?Y9))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND WHEEL1)
              #S(PLAN-STEP :ID 8 :ACTION (UNDO ?X8 ?Y8)
                           :PRECOND
                           ((OFF-GROUND ?Y8) (HAVE WRENCH) (LOOSE ?X8 ?Y8))
                           :ADD ((HAVE ?X8) (UNFASTENED ?Y8))
                           :DELE ((LOOSE ?X8 ?Y8))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND WHEEL1)
              #S(PLAN-STEP :ID 8 :ACTION (UNDO ?X8 ?Y8)
                           :PRECOND
                           ((OFF-GROUND ?Y8) (HAVE WRENCH) (LOOSE ?X8 ?Y8))
                           :ADD ((HAVE ?X8) (UNFASTENED ?Y8))
                           :DELE ((LOOSE ?X8 ?Y8))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 7 :ACTION (REMOVE-WHEEL ?X7 ?Y7)
                           :PRECOND
                           ((OFF-GROUND ?X7) (OFF-GROUND ?Y7) (ON ?X7 ?Y7)
                            (UNFASTENED ?X7))
                           :ADD ((HAVE ?X7) (FREE ?Y7))
                           :DELE
                           ((OFF-GROUND ?X7) (ON ?X7 ?Y7) (UNFASTENED ?X7))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 7 :ACTION (REMOVE-WHEEL ?X7 ?Y7)
                           :PRECOND
                           ((OFF-GROUND ?X7) (OFF-GROUND ?Y7) (ON ?X7 ?Y7)
                            (UNFASTENED ?X7))
                           :ADD ((HAVE ?X7) (FREE ?Y7))
                           :DELE
                           ((OFF-GROUND ?X7) (ON ?X7 ?Y7) (UNFASTENED ?X7))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND WHEEL1)
              #S(PLAN-STEP :ID 7 :ACTION (REMOVE-WHEEL ?X7 ?Y7)
                           :PRECOND
                           ((OFF-GROUND ?X7) (OFF-GROUND ?Y7) (ON ?X7 ?Y7)
                            (UNFASTENED ?X7))
                           :ADD ((HAVE ?X7) (FREE ?Y7))
                           :DELE
                           ((OFF-GROUND ?X7) (ON ?X7 ?Y7) (UNFASTENED ?X7))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND WHEEL1)
              #S(PLAN-STEP :ID 7 :ACTION (REMOVE-WHEEL ?X7 ?Y7)
                           :PRECOND
                           ((OFF-GROUND ?X7) (OFF-GROUND ?Y7) (ON ?X7 ?Y7)
                            (UNFASTENED ?X7))
                           :ADD ((HAVE ?X7) (FREE ?Y7))
                           :DELE
                           ((OFF-GROUND ?X7) (ON ?X7 ?Y7) (UNFASTENED ?X7))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 2 :ACTION (JACK-DOWN ?X2 ?Y2)
                           :PRECOND
                           ((OFF-GROUND ?X2) (OFF-GROUND ?Y2) (ON ?X2 ?Y2))
                           :ADD ((ON-GROUND ?X2) (ON-GROUND ?Y2) (HAVE JACK))
                           :DELE ((OFF-GROUND ?X2) (OFF-GROUND ?Y2))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 2 :ACTION (JACK-DOWN ?X2 ?Y2)
                           :PRECOND
                           ((OFF-GROUND ?X2) (OFF-GROUND ?Y2) (ON ?X2 ?Y2))
                           :ADD ((ON-GROUND ?X2) (ON-GROUND ?Y2) (HAVE JACK))
                           :DELE ((OFF-GROUND ?X2) (OFF-GROUND ?Y2))))
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))) 
Open     : (((ON ?X16 ?Y15)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((ON-GROUND ?Y15)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((ON-GROUND ?X16)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((HAVE JACK)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((FREE ?Y15)
             #S(PLAN-STEP :ID 15 :ACTION (PUT-ON-WHEEL ?X15 ?Y15)
                          :PRECOND ((HAVE ?X15) (FREE ?Y15) (OFF-GROUND ?Y15))
                          :ADD
                          ((OFF-GROUND ?X15) (ON ?X15 ?Y15) (UNFASTENED ?X15))
                          :DELE ((HAVE ?X15) (FREE ?Y15))))
            ((HAVE PUMP)
             #S(PLAN-STEP :ID 15 :ACTION (PUT-ON-WHEEL ?X15 ?Y15)
                          :PRECOND ((HAVE ?X15) (FREE ?Y15) (OFF-GROUND ?Y15))
                          :ADD
                          ((OFF-GROUND ?X15) (ON ?X15 ?Y15) (UNFASTENED ?X15))
                          :DELE ((HAVE ?X15) (FREE ?Y15))))
            ((ON PUMP ?Y14)
             #S(PLAN-STEP :ID 14 :ACTION (REMOVE-WHEEL ?X14 ?Y14)
                          :PRECOND
                          ((OFF-GROUND ?X14) (OFF-GROUND ?Y14) (ON ?X14 ?Y14)
                           (UNFASTENED ?X14))
                          :ADD ((HAVE ?X14) (FREE ?Y14))
                          :DELE
                          ((OFF-GROUND ?X14) (ON ?X14 ?Y14)
                           (UNFASTENED ?X14))))
            ((OFF-GROUND ?Y14)
             #S(PLAN-STEP :ID 14 :ACTION (REMOVE-WHEEL ?X14 ?Y14)
                          :PRECOND
                          ((OFF-GROUND ?X14) (OFF-GROUND ?Y14) (ON ?X14 ?Y14)
                           (UNFASTENED ?X14))
                          :ADD ((HAVE ?X14) (FREE ?Y14))
                          :DELE
                          ((OFF-GROUND ?X14) (ON ?X14 ?Y14)
                           (UNFASTENED ?X14))))
            ((OFF-GROUND PUMP)
             #S(PLAN-STEP :ID 14 :ACTION (REMOVE-WHEEL ?X14 ?Y14)
                          :PRECOND
                          ((OFF-GROUND ?X14) (OFF-GROUND ?Y14) (ON ?X14 ?Y14)
                           (UNFASTENED ?X14))
                          :ADD ((HAVE ?X14) (FREE ?Y14))
                          :DELE
                          ((OFF-GROUND ?X14) (ON ?X14 ?Y14)
                           (UNFASTENED ?X14))))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (INFLATED WHEEL2) (IN JACK BOOT) (CLOSED BOOT)
                           (IN WHEEL1 BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((CLOSED BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (INFLATED WHEEL2) (IN JACK BOOT) (CLOSED BOOT)
                           (IN WHEEL1 BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((IN WHEEL1 BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (INFLATED WHEEL2) (IN JACK BOOT) (CLOSED BOOT)
                           (IN WHEEL1 BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (INFLATED WHEEL2) (IN JACK BOOT) (CLOSED BOOT)
                           (IN WHEEL1 BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (INFLATED WHEEL2) (IN JACK BOOT) (CLOSED BOOT)
                           (IN WHEEL1 BOOT) (IN WRENCH BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (16 steps)     CPU 12991300 
     Nodes (V = 658860; Q = 0   ; C = 1431767)             Branch 0.0       
     Working Unifies: 3160308                         Bindings added: 660242


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (IN JACK BOOT)) 

SNLP ():


Initial  : ((IN WHEEL2 BOOT) (CLOSED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
            (IN WRENCH BOOT) (FLAT WHEEL2) (IN PUMP BOOT) (UNLOCKED BOOT)
            (TIGHT NUTS WHEEL1) (IN JACK BOOT) (INTACT WHEEL2) (ON WHEEL1 HUB)
            (ON-GROUND WHEEL1))

Step 1   : (OPEN BOOT)       Created 2 
Step 2   : (FETCH WHEEL2 BOOT)   Created 12
Step 3   : (FETCH WRENCH BOOT)   Created 6 
Step 4   : (FETCH JACK BOOT)   Created 8 
Step 5   : (LOOSEN NUTS WHEEL1)   Created 5 
Step 6   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 7   : (UNDO NUTS WHEEL1)   Created 4 
Step 8   : (REMOVE-WHEEL WHEEL1 HUB)   Created 3 
Step 9   : (JACK-UP ?X18 ?Y17)   Created 18
Step 10  : (PUT-ON-WHEEL ?Y16 ?Y17)   Created 17
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 11
Step 12  : (DO-UP NUTS WHEEL2)   Created 13
Step 13  : (JACK-DOWN WHEEL2 HUB)   Created 10
Step 14  : (TIGHTEN NUTS WHEEL2)   Created 9 
Step 15  : (DO-UP WRENCH ?Y16)   Created 16
Step 16  : (UNDO WRENCH ?Y16)   Created 15
Step 17  : (PUT-AWAY WRENCH BOOT)   Created 14
Step 18  : (PUT-AWAY WHEEL1 BOOT)   Created 1 

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (IN JACK BOOT))
Unsafe   : (((0 (ON-GROUND HUB) 7) 18) ((0 (ON-GROUND WHEEL1) 5) 18)
            ((0 (ON-GROUND WHEEL1) 5) 18) ((7 (OFF-GROUND WHEEL1) 4) 18)
            ((7 (OFF-GROUND WHEEL1) 4) 18) ((8 (HAVE JACK) 7) 18)
            ((18 (OFF-GROUND ?Y17) 17) 3) ((18 (OFF-GROUND ?Y17) 17) 7)) 
Open     : (((ON ?X18 ?Y17) 18) ((ON-GROUND ?Y17) 18) ((ON-GROUND ?X18) 18)
            ((HAVE JACK) 18) ((FREE ?Y17) 17) ((HAVE ?Y16) 17)
            ((HAVE WRENCH) 16) ((OFF-GROUND ?Y16) 16) ((HAVE WRENCH) 16)
            ((HAVE WRENCH) 15) ((OFF-GROUND ?Y16) 15) ((CLOSED BOOT) GOAL)
            ((INFLATED WHEEL2) GOAL) ((ON WHEEL2 HUB) GOAL)
            ((IN JACK BOOT) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (18 steps)     CPU 9971183  
     Nodes (V = 742176; Q = 0   ; C = 1293074)             Branch 0.0       
     Working Unifies: 4472204                         Bindings added: 556018

TOCL ():


Initial  : ((IN WHEEL2 BOOT) (CLOSED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
            (IN WRENCH BOOT) (FLAT WHEEL2) (IN PUMP BOOT) (UNLOCKED BOOT)
            (TIGHT NUTS WHEEL1) (IN JACK BOOT) (INTACT WHEEL2) (ON WHEEL1 HUB)
            (ON-GROUND WHEEL1))

Step 1   : (OPEN BOOT)      Created 2 
Step 2   : (FETCH WHEEL2 BOOT)  Created 12
Step 3   : (UNDO ?X19 ?Y18)  Created 19
Step 4   : (FETCH JACK BOOT)  Created 8 
Step 5   : (FETCH WRENCH BOOT)  Created 6 
Step 6   : (LOOSEN NUTS WHEEL1)  Created 5 
Step 7   : (JACK-UP WHEEL1 HUB)  Created 7 
Step 8   : (UNDO NUTS WHEEL1)  Created 4 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)  Created 3 
Step 10  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 11
Step 11  : (DO-UP NUTS WHEEL2)  Created 13
Step 12  : (JACK-DOWN WHEEL2 HUB)  Created 10
Step 13  : (DO-UP PUMP ?Y18)  Created 18
Step 14  : (UNDO PUMP ?Y18)  Created 17
Step 15  : (TIGHTEN NUTS WHEEL2)  Created 9 
Step 16  : (PUT-AWAY WRENCH BOOT)  Created 14
Step 17  : (INFLATE WHEEL2)  Created 16
Step 18  : (PUT-AWAY WHEEL1 BOOT)  Created 1 
Step 19  : (CLOSE BOOT)     Created 15

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
            (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2) (ON WHEEL2 HUB)
            (IN JACK BOOT))
Unsafe   : (((#S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                           :PRECOND
                           ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                            (UNFASTENED ?Y13))
                           :ADD ((LOOSE ?X13 ?Y13))
                           :DELE ((HAVE ?X13) (UNFASTENED ?Y13)))
              (LOOSE NUTS WHEEL2)
              #S(PLAN-STEP :ID 9 :ACTION (TIGHTEN ?X9 ?Y9)
                           :PRECOND
                           ((HAVE WRENCH) (LOOSE ?X9 ?Y9) (ON-GROUND ?Y9))
                           :ADD ((TIGHT ?X9 ?Y9)) :DELE ((LOOSE ?X9 ?Y9))))
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((#S(PLAN-STEP :ID 11 :ACTION (PUT-ON-WHEEL ?X11 ?Y11)
                           :PRECOND
                           ((HAVE ?X11) (FREE ?Y11) (OFF-GROUND ?Y11))
                           :ADD
                           ((OFF-GROUND ?X11) (ON ?X11 ?Y11)
                            (UNFASTENED ?X11))
                           :DELE ((HAVE ?X11) (FREE ?Y11)))
              (UNFASTENED WHEEL2)
              #S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                           :PRECOND
                           ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                            (UNFASTENED ?Y13))
                           :ADD ((LOOSE ?X13 ?Y13))
                           :DELE ((HAVE ?X13) (UNFASTENED ?Y13))))
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((#S(PLAN-STEP :ID 4 :ACTION (UNDO ?X4 ?Y4)
                           :PRECOND
                           ((OFF-GROUND ?Y4) (HAVE WRENCH) (LOOSE ?X4 ?Y4))
                           :ADD ((HAVE ?X4) (UNFASTENED ?Y4))
                           :DELE ((LOOSE ?X4 ?Y4)))
              (HAVE NUTS)
              #S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                           :PRECOND
                           ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                            (UNFASTENED ?Y13))
                           :ADD ((LOOSE ?X13 ?Y13))
                           :DELE ((HAVE ?X13) (UNFASTENED ?Y13))))
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((#S(PLAN-STEP :ID 6 :ACTION (FETCH ?X6 ?Y6)
                           :PRECOND ((IN ?X6 ?Y6) (OPEN ?Y6))
                           :ADD ((HAVE ?X6)) :DELE ((IN ?X6 ?Y6)))
              (HAVE WRENCH)
              #S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                           :PRECOND
                           ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                            (UNFASTENED ?Y13))
                           :ADD ((LOOSE ?X13 ?Y13))
                           :DELE ((HAVE ?X13) (UNFASTENED ?Y13))))
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((#S(PLAN-STEP :ID 6 :ACTION (FETCH ?X6 ?Y6)
                           :PRECOND ((IN ?X6 ?Y6) (OPEN ?Y6))
                           :ADD ((HAVE ?X6)) :DELE ((IN ?X6 ?Y6)))
              (HAVE WRENCH)
              #S(PLAN-STEP :ID 9 :ACTION (TIGHTEN ?X9 ?Y9)
                           :PRECOND
                           ((HAVE WRENCH) (LOOSE ?X9 ?Y9) (ON-GROUND ?Y9))
                           :ADD ((TIGHT ?X9 ?Y9)) :DELE ((LOOSE ?X9 ?Y9))))
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((#S(PLAN-STEP :ID 6 :ACTION (FETCH ?X6 ?Y6)
                           :PRECOND ((IN ?X6 ?Y6) (OPEN ?Y6))
                           :ADD ((HAVE ?X6)) :DELE ((IN ?X6 ?Y6)))
              (HAVE WRENCH)
              #S(PLAN-STEP :ID 14 :ACTION (PUT-AWAY ?X14 ?Y14)
                           :PRECOND ((HAVE ?X14) (OPEN ?Y14))
                           :ADD ((IN ?X14 ?Y14)) :DELE ((HAVE ?X14))))
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))) 
Open     : (((LOOSE ?X19 ?Y18)
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((OFF-GROUND ?Y18)
             #S(PLAN-STEP :ID 19 :ACTION (UNDO ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?Y19) (HAVE WRENCH) (LOOSE ?X19 ?Y19))
                          :ADD ((HAVE ?X19) (UNFASTENED ?Y19))
                          :DELE ((LOOSE ?X19 ?Y19))))
            ((HAVE PUMP)
             #S(PLAN-STEP :ID 18 :ACTION (DO-UP ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y18) (HAVE ?X18)
                           (UNFASTENED ?Y18))
                          :ADD ((LOOSE ?X18 ?Y18))
                          :DELE ((HAVE ?X18) (UNFASTENED ?Y18))))
            ((OFF-GROUND ?Y18)
             #S(PLAN-STEP :ID 18 :ACTION (DO-UP ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y18) (HAVE ?X18)
                           (UNFASTENED ?Y18))
                          :ADD ((LOOSE ?X18 ?Y18))
                          :DELE ((HAVE ?X18) (UNFASTENED ?Y18))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 18 :ACTION (DO-UP ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y18) (HAVE ?X18)
                           (UNFASTENED ?Y18))
                          :ADD ((LOOSE ?X18 ?Y18))
                          :DELE ((HAVE ?X18) (UNFASTENED ?Y18))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 17 :ACTION (UNDO ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?Y17) (HAVE WRENCH) (LOOSE ?X17 ?Y17))
                          :ADD ((HAVE ?X17) (UNFASTENED ?Y17))
                          :DELE ((LOOSE ?X17 ?Y17))))
            ((OFF-GROUND ?Y18)
             #S(PLAN-STEP :ID 17 :ACTION (UNDO ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?Y17) (HAVE WRENCH) (LOOSE ?X17 ?Y17))
                          :ADD ((HAVE ?X17) (UNFASTENED ?Y17))
                          :DELE ((LOOSE ?X17 ?Y17))))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
                           (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2)
                           (ON WHEEL2 HUB) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
                           (IN WRENCH BOOT) (CLOSED BOOT) (INFLATED WHEEL2)
                           (ON WHEEL2 HUB) (IN JACK BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (19 steps)     CPU 10545983 
     Nodes (V = 669741; Q = 0   ; C = 1351979)             Branch 0.0       
     Working Unifies: 4161867                         Bindings added: 723791


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
            (INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (IN JACK BOOT)) 

SNLP ():


Initial  : ((ON-GROUND WHEEL1) (ON-GROUND HUB) (IN PUMP BOOT) (FLAT WHEEL2)
            (TIGHT NUTS WHEEL1) (IN JACK BOOT) (INTACT WHEEL2) (FLAT WHEEL1)
            (CLOSED BOOT) (UNLOCKED BOOT) (IN WRENCH BOOT) (IN WHEEL2 BOOT)
            (ON WHEEL1 HUB))

Step 1   : (PUT-ON-WHEEL ?Y18 ?Y19)   Created 19
Step 2   : (OPEN BOOT)       Created 4 
Step 3   : (FETCH WHEEL2 BOOT)   Created 9 
Step 4   : (FETCH WRENCH BOOT)   Created 8 
Step 5   : (FETCH JACK BOOT)   Created 3 
Step 6   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 2 
Step 8   : (UNDO NUTS WHEEL1)   Created 6 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 10  : (PUT-ON-WHEEL ?X17 ?Y18)   Created 18
Step 11  : (JACK-DOWN ?X17 ?Y18)   Created 17
Step 12  : (LOOSEN PUMP ?Y18)   Created 16
Step 13  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 1 
Step 14  : (UNDO PUMP ?Y18)   Created 15
Step 15  : (DO-UP NUTS WHEEL2)   Created 13
Step 16  : (JACK-DOWN WHEEL2 HUB)   Created 12
Step 17  : (INFLATE WHEEL2)   Created 14
Step 18  : (TIGHTEN NUTS WHEEL2)   Created 11
Step 19  : (CLOSE BOOT)      Created 10

Goal     : ((ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
            (INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN JACK BOOT))
Unsafe   : (((0 (ON WHEEL1 HUB) 5) 19) ((2 (OFF-GROUND WHEEL1) 6) 19)
            ((8 (HAVE WRENCH) 6) 19) ((0 (ON WHEEL1 HUB) 2) 19)
            ((3 (HAVE JACK) 2) 19) ((5 (FREE HUB) 1) 19)
            ((6 (UNFASTENED WHEEL1) 5) 19) ((8 (HAVE WRENCH) 7) 19)
            ((19 (OFF-GROUND ?Y18) 18) 2) ((19 (OFF-GROUND ?Y18) 18) 5)) 
Open     : (((OFF-GROUND ?Y19) 19) ((FREE ?Y19) 19) ((HAVE ?Y18) 19)
            ((FREE ?Y18) 18) ((HAVE ?X17) 18) ((OFF-GROUND ?Y18) 17)
            ((OFF-GROUND ?X17) 17) ((TIGHT PUMP ?Y18) 16) ((HAVE WRENCH) 16)
            ((HAVE WRENCH) 15) ((OFF-GROUND ?Y18) 15) ((IN WHEEL1 BOOT) GOAL)
            ((IN WRENCH BOOT) GOAL) ((IN JACK BOOT) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (19 steps)     CPU 9820450  
     Nodes (V = 723435; Q = 0   ; C = 1294138)             Branch 0.0       
     Working Unifies: 3955413                         Bindings added: 545709

TOCL ():


Initial  : ((ON-GROUND WHEEL1) (ON-GROUND HUB) (IN PUMP BOOT) (FLAT WHEEL2)
            (TIGHT NUTS WHEEL1) (IN JACK BOOT) (INTACT WHEEL2) (FLAT WHEEL1)
            (CLOSED BOOT) (UNLOCKED BOOT) (IN WRENCH BOOT) (IN WHEEL2 BOOT)
            (ON WHEEL1 HUB))

Step 1   : (OPEN ?X19)      Created 20
Step 2   : (OPEN BOOT)      Created 4 
Step 3   : (FETCH WHEEL2 BOOT)  Created 9 
Step 4   : (CLOSE ?X19)     Created 19
Step 5   : (FETCH WRENCH BOOT)  Created 8 
Step 6   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 7   : (OPEN ?X19)      Created 18
Step 8   : (CLOSE ?X19)     Created 17
Step 9   : (FETCH JACK BOOT)  Created 3 
Step 10  : (CLOSE BOOT)     Created 10
Step 11  : (OPEN ?X19)      Created 16
Step 12  : (JACK-UP WHEEL1 HUB)  Created 2 
Step 13  : (UNDO NUTS WHEEL1)  Created 6 
Step 14  : (FETCH PUMP ?X19)  Created 15
Step 15  : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 16  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 1 
Step 17  : (INFLATE WHEEL2)  Created 14
Step 18  : (DO-UP NUTS WHEEL2)  Created 13
Step 19  : (JACK-DOWN WHEEL2 HUB)  Created 12
Step 20  : (TIGHTEN NUTS WHEEL2)  Created 11

Goal     : ((ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
            (INFLATED WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT) (IN JACK BOOT))
Unsafe   : NIL 
Open     : (((CLOSED ?X19)
             #S(PLAN-STEP :ID 20 :ACTION (OPEN ?X20)
                          :PRECOND ((UNLOCKED ?X20) (CLOSED ?X20))
                          :ADD ((OPEN ?X20)) :DELE ((CLOSED ?X20))))
            ((UNLOCKED ?X19)
             #S(PLAN-STEP :ID 20 :ACTION (OPEN ?X20)
                          :PRECOND ((UNLOCKED ?X20) (CLOSED ?X20))
                          :ADD ((OPEN ?X20)) :DELE ((CLOSED ?X20))))
            ((UNLOCKED ?X19)
             #S(PLAN-STEP :ID 18 :ACTION (OPEN ?X18)
                          :PRECOND ((UNLOCKED ?X18) (CLOSED ?X18))
                          :ADD ((OPEN ?X18)) :DELE ((CLOSED ?X18))))
            ((UNLOCKED ?X19)
             #S(PLAN-STEP :ID 16 :ACTION (OPEN ?X16)
                          :PRECOND ((UNLOCKED ?X16) (CLOSED ?X16))
                          :ADD ((OPEN ?X16)) :DELE ((CLOSED ?X16))))
            ((IN PUMP ?X19)
             #S(PLAN-STEP :ID 15 :ACTION (FETCH ?X15 ?Y15)
                          :PRECOND ((IN ?X15 ?Y15) (OPEN ?Y15))
                          :ADD ((HAVE ?X15)) :DELE ((IN ?X15 ?Y15))))
            ((IN WHEEL1 BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2)
                           (IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2)
                           (IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2)
                           (IN PUMP BOOT) (INFLATED WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (IN JACK BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 12921833 
     Nodes (V = 636502; Q = 0   ; C = 1416054)             Branch 0.0       
     Working Unifies: 3653379                         Bindings added: 719911


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT) (IN JACK BOOT)
            (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (INFLATED WHEEL2)) 

SNLP ():


Initial  : ((IN PUMP BOOT) (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1)
            (ON-GROUND WHEEL1) (ON WHEEL1 HUB) (INTACT WHEEL2) (UNLOCKED BOOT)
            (IN WRENCH BOOT) (FLAT WHEEL1) (IN JACK BOOT) (ON-GROUND HUB)
            (FLAT WHEEL2) (CLOSED BOOT))

Step 1   : (OPEN BOOT)       Created 4 
Step 2   : (FETCH WHEEL2 BOOT)   Created 9 
Step 3   : (PUT-ON-WHEEL ?Y19 ?Y20)   Created 20
Step 4   : (FETCH WRENCH BOOT)   Created 8 
Step 5   : (FETCH JACK BOOT)   Created 3 
Step 6   : (LOOSEN NUTS WHEEL1)   Created 7 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 2 
Step 8   : (UNDO NUTS WHEEL1)   Created 6 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 5 
Step 10  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 1 
Step 11  : (DO-UP NUTS WHEEL2)   Created 14
Step 12  : (JACK-DOWN WHEEL2 HUB)   Created 12
Step 13  : (PUT-ON-WHEEL HUB ?Y19)   Created 19
Step 14  : (PUT-AWAY JACK BOOT)   Created 11
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 13
Step 16  : (JACK-DOWN WHEEL2 HUB)   Created 18
Step 17  : (LOOSEN WHEEL1 WHEEL2)   Created 17
Step 18  : (UNDO WHEEL1 WHEEL2)   Created 16
Step 19  : (PUT-AWAY WHEEL1 BOOT)   Created 15
Step 20  : (CLOSE BOOT)      Created 10

Goal     : ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT) (IN JACK BOOT)
            (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (INFLATED WHEEL2))
Unsafe   : NIL 
Open     : (((OFF-GROUND ?Y20) 20) ((FREE ?Y20) 20) ((HAVE ?Y19) 20)
            ((FREE ?Y19) 19) ((HAVE HUB) 19) ((OFF-GROUND WHEEL2) 18)
            ((TIGHT WHEEL1 WHEEL2) 17) ((HAVE WRENCH) 17) ((HAVE WRENCH) 16)
            ((OFF-GROUND WHEEL2) 16) ((IN WRENCH BOOT) GOAL)
            ((INFLATED WHEEL2) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 10229450 
     Nodes (V = 753173; Q = 0   ; C = 1288793)             Branch 0.0       
     Working Unifies: 4141317                         Bindings added: 498749

TOCL ():


Initial  : ((IN PUMP BOOT) (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1)
            (ON-GROUND WHEEL1) (ON WHEEL1 HUB) (INTACT WHEEL2) (UNLOCKED BOOT)
            (IN WRENCH BOOT) (FLAT WHEEL1) (IN JACK BOOT) (ON-GROUND HUB)
            (FLAT WHEEL2) (CLOSED BOOT))

Step 1   : (JACK-UP ?Y15 ?Y16)  Created 16
Step 2   : (OPEN BOOT)      Created 4 
Step 3   : (FETCH WHEEL2 BOOT)  Created 9 
Step 4   : (FETCH WRENCH BOOT)  Created 8 
Step 5   : (LOOSEN NUTS WHEEL1)  Created 7 
Step 6   : (PUT-ON-WHEEL ?Y14 ?Y15)  Created 15
Step 7   : (PUT-ON-WHEEL ?Y13 ?Y14)  Created 14
Step 8   : (FETCH JACK BOOT)  Created 3 
Step 9   : (JACK-UP WHEEL1 HUB)  Created 2 
Step 10  : (DO-UP JACK ?Y13)  Created 13
Step 11  : (UNDO JACK ?Y13)  Created 12
Step 12  : (PUT-AWAY JACK BOOT)  Created 11
Step 13  : (CLOSE BOOT)     Created 10
Step 14  : (UNDO NUTS WHEEL1)  Created 6 
Step 15  : (REMOVE-WHEEL WHEEL1 HUB)  Created 5 
Step 16  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 1 

Goal     : ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT) (IN JACK BOOT)
            (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT) (IN WRENCH BOOT)
            (INFLATED WHEEL2))
Unsafe   : NIL 
Open     : (((ON ?Y15 ?Y16)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((ON-GROUND ?Y16)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((ON-GROUND ?Y15)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((HAVE JACK)
             #S(PLAN-STEP :ID 16 :ACTION (JACK-UP ?X16 ?Y16)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X16) (ON-GROUND ?Y16)
                           (ON ?X16 ?Y16))
                          :ADD ((OFF-GROUND ?X16) (OFF-GROUND ?Y16))
                          :DELE
                          ((ON-GROUND ?X16) (ON-GROUND ?Y16) (HAVE JACK))))
            ((FREE ?Y15)
             #S(PLAN-STEP :ID 15 :ACTION (PUT-ON-WHEEL ?X15 ?Y15)
                          :PRECOND ((HAVE ?X15) (FREE ?Y15) (OFF-GROUND ?Y15))
                          :ADD
                          ((OFF-GROUND ?X15) (ON ?X15 ?Y15) (UNFASTENED ?X15))
                          :DELE ((HAVE ?X15) (FREE ?Y15))))
            ((HAVE ?Y14)
             #S(PLAN-STEP :ID 15 :ACTION (PUT-ON-WHEEL ?X15 ?Y15)
                          :PRECOND ((HAVE ?X15) (FREE ?Y15) (OFF-GROUND ?Y15))
                          :ADD
                          ((OFF-GROUND ?X15) (ON ?X15 ?Y15) (UNFASTENED ?X15))
                          :DELE ((HAVE ?X15) (FREE ?Y15))))
            ((FREE ?Y14)
             #S(PLAN-STEP :ID 14 :ACTION (PUT-ON-WHEEL ?X14 ?Y14)
                          :PRECOND ((HAVE ?X14) (FREE ?Y14) (OFF-GROUND ?Y14))
                          :ADD
                          ((OFF-GROUND ?X14) (ON ?X14 ?Y14) (UNFASTENED ?X14))
                          :DELE ((HAVE ?X14) (FREE ?Y14))))
            ((HAVE ?Y13)
             #S(PLAN-STEP :ID 14 :ACTION (PUT-ON-WHEEL ?X14 ?Y14)
                          :PRECOND ((HAVE ?X14) (FREE ?Y14) (OFF-GROUND ?Y14))
                          :ADD
                          ((OFF-GROUND ?X14) (ON ?X14 ?Y14) (UNFASTENED ?X14))
                          :DELE ((HAVE ?X14) (FREE ?Y14))))
            ((HAVE JACK)
             #S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                           (UNFASTENED ?Y13))
                          :ADD ((LOOSE ?X13 ?Y13))
                          :DELE ((HAVE ?X13) (UNFASTENED ?Y13))))
            ((OFF-GROUND ?Y13)
             #S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                           (UNFASTENED ?Y13))
                          :ADD ((LOOSE ?X13 ?Y13))
                          :DELE ((HAVE ?X13) (UNFASTENED ?Y13))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 13 :ACTION (DO-UP ?X13 ?Y13)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y13) (HAVE ?X13)
                           (UNFASTENED ?Y13))
                          :ADD ((LOOSE ?X13 ?Y13))
                          :DELE ((HAVE ?X13) (UNFASTENED ?Y13))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 12 :ACTION (UNDO ?X12 ?Y12)
                          :PRECOND
                          ((OFF-GROUND ?Y12) (HAVE WRENCH) (LOOSE ?X12 ?Y12))
                          :ADD ((HAVE ?X12) (UNFASTENED ?Y12))
                          :DELE ((LOOSE ?X12 ?Y12))))
            ((OFF-GROUND ?Y13)
             #S(PLAN-STEP :ID 12 :ACTION (UNDO ?X12 ?Y12)
                          :PRECOND
                          ((OFF-GROUND ?Y12) (HAVE WRENCH) (LOOSE ?X12 ?Y12))
                          :ADD ((HAVE ?X12) (UNFASTENED ?Y12))
                          :DELE ((LOOSE ?X12 ?Y12))))
            ((TIGHT NUTS WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT)
                           (IN JACK BOOT) (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (INFLATED WHEEL2))
                          :ADD NIL :DELE NIL))
            ((IN WHEEL1 BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT)
                           (IN JACK BOOT) (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (INFLATED WHEEL2))
                          :ADD NIL :DELE NIL))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT)
                           (IN JACK BOOT) (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (INFLATED WHEEL2))
                          :ADD NIL :DELE NIL))
            ((INFLATED WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((ON WHEEL2 HUB) (IN PUMP BOOT) (CLOSED BOOT)
                           (IN JACK BOOT) (TIGHT NUTS WHEEL2) (IN WHEEL1 BOOT)
                           (IN WRENCH BOOT) (INFLATED WHEEL2))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (16 steps)     CPU 11436217 
     Nodes (V = 587779; Q = 0   ; C = 1380605)             Branch 0.0       
     Working Unifies: 3891871                         Bindings added: 915664

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (IN WHEEL1 BOOT)
            (ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT)) 

SNLP ():


Initial  : ((IN PUMP BOOT) (FLAT WHEEL1) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
            (IN JACK BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB) (UNLOCKED BOOT)
            (CLOSED BOOT) (ON-GROUND WHEEL1) (INTACT WHEEL2) (IN WRENCH BOOT)
            (IN WHEEL2 BOOT))

Step 1   : (UNDO WRENCH ?Y19)   Created 19
Step 2   : (LOOSEN NUTS WHEEL1)   Created 18
Step 3   : (OPEN BOOT)       Created 3 
Step 4   : (FETCH PUMP BOOT)   Created 2 
Step 5   : (UNDO NUTS WHEEL1)   Created 17
Step 6   : (REMOVE-WHEEL WHEEL1 ?Y16)   Created 16
Step 7   : (INFLATE WHEEL2)   Created 1 
Step 8   : (PUT-AWAY PUMP BOOT)   Created 4 
Step 9   : (CLOSE BOOT)      Created 11
Step 10  : (OPEN BOOT)       Created 10
Step 11  : (PUT-AWAY WHEEL1 BOOT)   Created 15
Step 12  : (CLOSE BOOT)      Created 9 
Step 13  : (OPEN BOOT)       Created 8 
Step 14  : (FETCH WHEEL1 BOOT)   Created 14
Step 15  : (PUT-AWAY WHEEL1 BOOT)   Created 13
Step 16  : (FETCH WHEEL1 BOOT)   Created 12
Step 17  : (CLOSE BOOT)      Created 7 
Step 18  : (OPEN BOOT)       Created 6 
Step 19  : (PUT-AWAY WHEEL1 BOOT)   Created 5 

Goal     : ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (IN WHEEL1 BOOT)
            (ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT))
Unsafe   : NIL 
Open     : (((LOOSE WRENCH ?Y19) 19) ((HAVE WRENCH) 19) ((OFF-GROUND ?Y19) 19)
            ((HAVE WRENCH) 17) ((OFF-GROUND WHEEL1) 17) ((ON WHEEL1 ?Y16) 16)
            ((OFF-GROUND ?Y16) 16) ((OFF-GROUND WHEEL1) 16)
            ((ON WHEEL2 HUB) GOAL) ((CLOSED BOOT) GOAL)
            ((TIGHT NUTS WHEEL2) GOAL) ((IN JACK BOOT) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (19 steps)     CPU 11196067 
     Nodes (V = 662037; Q = 0   ; C = 1413027)             Branch 0.0       
     Working Unifies: 3507815                         Bindings added: 915792

TOCL ():


Initial  : ((IN PUMP BOOT) (FLAT WHEEL1) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
            (IN JACK BOOT) (ON-GROUND HUB) (ON WHEEL1 HUB) (UNLOCKED BOOT)
            (CLOSED BOOT) (ON-GROUND WHEEL1) (INTACT WHEEL2) (IN WRENCH BOOT)
            (IN WHEEL2 BOOT))

Step 1   : (OPEN BOOT)      Created 3 
Step 2   : (FETCH PUMP BOOT)  Created 2 
Step 3   : (OPEN ?Y16)      Created 17
Step 4   : (FETCH WHEEL1 ?Y16)  Created 16
Step 5   : (PUT-AWAY WHEEL1 BOOT)  Created 15
Step 6   : (INFLATE WHEEL2)  Created 1 
Step 7   : (PUT-AWAY PUMP BOOT)  Created 4 
Step 8   : (CLOSE BOOT)     Created 11
Step 9   : (OPEN BOOT)      Created 10
Step 10  : (CLOSE BOOT)     Created 9 
Step 11  : (OPEN BOOT)      Created 8 
Step 12  : (FETCH WHEEL1 BOOT)  Created 14
Step 13  : (CLOSE BOOT)     Created 7 
Step 14  : (OPEN BOOT)      Created 6 
Step 15  : (PUT-AWAY WHEEL1 BOOT)  Created 13
Step 16  : (FETCH WHEEL1 BOOT)  Created 12
Step 17  : (PUT-AWAY WHEEL1 BOOT)  Created 5 

Goal     : ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT) (IN WHEEL1 BOOT)
            (ON WHEEL2 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL2) (IN JACK BOOT))
Unsafe   : (((#S(PLAN-STEP :ID 3 :ACTION (OPEN ?X3)
                           :PRECOND ((UNLOCKED ?X3) (CLOSED ?X3))
                           :ADD ((OPEN ?X3)) :DELE ((CLOSED ?X3)))
              (OPEN BOOT)
              #S(PLAN-STEP :ID 4 :ACTION (PUT-AWAY ?X4 ?Y4)
                           :PRECOND ((HAVE ?X4) (OPEN ?Y4))
                           :ADD ((IN ?X4 ?Y4)) :DELE ((HAVE ?X4))))
             #S(PLAN-STEP :ID 17 :ACTION (OPEN ?X17)
                          :PRECOND ((UNLOCKED ?X17) (CLOSED ?X17))
                          :ADD ((OPEN ?X17)) :DELE ((CLOSED ?X17))))
            ((#S(PLAN-STEP :ID 3 :ACTION (OPEN ?X3)
                           :PRECOND ((UNLOCKED ?X3) (CLOSED ?X3))
                           :ADD ((OPEN ?X3)) :DELE ((CLOSED ?X3)))
              (OPEN BOOT)
              #S(PLAN-STEP :ID 11 :ACTION (CLOSE ?X11) :PRECOND ((OPEN ?X11))
                           :ADD ((CLOSED ?X11)) :DELE ((OPEN ?X11))))
             #S(PLAN-STEP :ID 17 :ACTION (OPEN ?X17)
                          :PRECOND ((UNLOCKED ?X17) (CLOSED ?X17))
                          :ADD ((OPEN ?X17)) :DELE ((CLOSED ?X17))))
            ((#S(PLAN-STEP :ID 3 :ACTION (OPEN ?X3)
                           :PRECOND ((UNLOCKED ?X3) (CLOSED ?X3))
                           :ADD ((OPEN ?X3)) :DELE ((CLOSED ?X3)))
              (OPEN BOOT)
              #S(PLAN-STEP :ID 15 :ACTION (PUT-AWAY ?X15 ?Y15)
                           :PRECOND ((HAVE ?X15) (OPEN ?Y15))
                           :ADD ((IN ?X15 ?Y15)) :DELE ((HAVE ?X15))))
             #S(PLAN-STEP :ID 17 :ACTION (OPEN ?X17)
                          :PRECOND ((UNLOCKED ?X17) (CLOSED ?X17))
                          :ADD ((OPEN ?X17)) :DELE ((CLOSED ?X17))))) 
Open     : (((CLOSED ?Y16)
             #S(PLAN-STEP :ID 17 :ACTION (OPEN ?X17)
                          :PRECOND ((UNLOCKED ?X17) (CLOSED ?X17))
                          :ADD ((OPEN ?X17)) :DELE ((CLOSED ?X17))))
            ((UNLOCKED ?Y16)
             #S(PLAN-STEP :ID 17 :ACTION (OPEN ?X17)
                          :PRECOND ((UNLOCKED ?X17) (CLOSED ?X17))
                          :ADD ((OPEN ?X17)) :DELE ((CLOSED ?X17))))
            ((IN WHEEL1 ?Y16)
             #S(PLAN-STEP :ID 16 :ACTION (FETCH ?X16 ?Y16)
                          :PRECOND ((IN ?X16 ?Y16) (OPEN ?Y16))
                          :ADD ((HAVE ?X16)) :DELE ((IN ?X16 ?Y16))))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
                           (IN WHEEL1 BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((CLOSED BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
                           (IN WHEEL1 BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((TIGHT NUTS WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
                           (IN WHEEL1 BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT))
                          :ADD NIL :DELE NIL))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (INFLATED WHEEL2) (IN PUMP BOOT)
                           (IN WHEEL1 BOOT) (ON WHEEL2 HUB) (CLOSED BOOT)
                           (TIGHT NUTS WHEEL2) (IN JACK BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (17 steps)     CPU 10959284 
     Nodes (V = 640686; Q = 0   ; C = 1389442)             Branch 0.0       
     Working Unifies: 2455154                         Bindings added: 922715


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN JACK BOOT)
            (IN PUMP BOOT) (TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB)) 

SNLP ():
Warning: 5002808 bytes have been tenured, next gc will be global.
See the documentation for variable *GLOBAL-GC-BEHAVIOR* for more information.


Initial  : ((INTACT WHEEL2) (ON-GROUND HUB) (IN WHEEL2 BOOT) (FLAT WHEEL2)
            (ON-GROUND WHEEL1) (IN JACK BOOT) (IN WRENCH BOOT) (UNLOCKED BOOT)
            (FLAT WHEEL1) (ON WHEEL1 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL1)
            (IN PUMP BOOT))

Step 1   : (OPEN BOOT)       Created 4 
Step 2   : (FETCH JACK BOOT)   Created 13
Step 3   : (PUT-AWAY JACK BOOT)   Created 12
Step 4   : (FETCH JACK BOOT)   Created 11
Step 5   : (JACK-UP WHEEL1 HUB)   Created 10
Step 6   : (JACK-DOWN WHEEL1 HUB)   Created 9 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 8 
Step 8   : (JACK-DOWN WHEEL1 HUB)   Created 7 
Step 9   : (LOOSEN WHEEL1 HUB)   Created 6 
Step 10  : (UNDO WHEEL1 HUB)   Created 5 
Step 11  : (CLOSE BOOT)      Created 3 
Step 12  : (OPEN BOOT)       Created 2 
Step 13  : (PUT-AWAY WHEEL1 BOOT)   Created 1 

Goal     : ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN JACK BOOT)
            (IN PUMP BOOT) (TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB))
Unsafe   : NIL 
Open     : (((ON-GROUND WHEEL1) 8) ((HAVE JACK) 8) ((OFF-GROUND WHEEL1) 7)
            ((TIGHT WHEEL1 HUB) 6) ((HAVE WRENCH) 6) ((HAVE WRENCH) 5)
            ((OFF-GROUND HUB) 5) ((INFLATED WHEEL2) GOAL)
            ((IN JACK BOOT) GOAL) ((IN PUMP BOOT) GOAL)
            ((TIGHT NUTS WHEEL2) GOAL) ((CLOSED BOOT) GOAL)
            ((ON WHEEL2 HUB) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (13 steps)     CPU 11381434 
     Nodes (V = 720015; Q = 0   ; C = 1448385)             Branch 0.0       
     Working Unifies: 2721941                         Bindings added: 840246

TOCL ():


Initial  : ((INTACT WHEEL2) (ON-GROUND HUB) (IN WHEEL2 BOOT) (FLAT WHEEL2)
            (ON-GROUND WHEEL1) (IN JACK BOOT) (IN WRENCH BOOT) (UNLOCKED BOOT)
            (FLAT WHEEL1) (ON WHEEL1 HUB) (CLOSED BOOT) (TIGHT NUTS WHEEL1)
            (IN PUMP BOOT))

Step 1   : (LOOSEN WHEEL1 ?Y15)  Created 16
Step 2   : (OPEN BOOT)      Created 8 
Step 3   : (CLOSE BOOT)     Created 7 
Step 4   : (OPEN BOOT)      Created 6 
Step 5   : (UNDO WHEEL1 ?Y15)  Created 15
Step 6   : (PUT-AWAY WHEEL1 BOOT)  Created 14
Step 7   : (FETCH WHEEL1 BOOT)  Created 13
Step 8   : (CLOSE BOOT)     Created 5 
Step 9   : (OPEN BOOT)      Created 4 
Step 10  : (PUT-AWAY WHEEL1 BOOT)  Created 12
Step 11  : (FETCH WHEEL1 BOOT)  Created 11
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 10
Step 13  : (FETCH WHEEL1 BOOT)  Created 9 
Step 14  : (CLOSE BOOT)     Created 3 
Step 15  : (OPEN BOOT)      Created 2 
Step 16  : (PUT-AWAY WHEEL1 BOOT)  Created 1 

Goal     : ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2) (IN JACK BOOT)
            (IN PUMP BOOT) (TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB))
Unsafe   : NIL 
Open     : (((ON-GROUND ?Y15)
             #S(PLAN-STEP :ID 16 :ACTION (LOOSEN ?X16 ?Y16)
                          :PRECOND
                          ((HAVE WRENCH) (TIGHT ?X16 ?Y16) (ON-GROUND ?Y16))
                          :ADD ((LOOSE ?X16 ?Y16)) :DELE ((TIGHT ?X16 ?Y16))))
            ((TIGHT WHEEL1 ?Y15)
             #S(PLAN-STEP :ID 16 :ACTION (LOOSEN ?X16 ?Y16)
                          :PRECOND
                          ((HAVE WRENCH) (TIGHT ?X16 ?Y16) (ON-GROUND ?Y16))
                          :ADD ((LOOSE ?X16 ?Y16)) :DELE ((TIGHT ?X16 ?Y16))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 16 :ACTION (LOOSEN ?X16 ?Y16)
                          :PRECOND
                          ((HAVE WRENCH) (TIGHT ?X16 ?Y16) (ON-GROUND ?Y16))
                          :ADD ((LOOSE ?X16 ?Y16)) :DELE ((TIGHT ?X16 ?Y16))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 15 :ACTION (UNDO ?X15 ?Y15)
                          :PRECOND
                          ((OFF-GROUND ?Y15) (HAVE WRENCH) (LOOSE ?X15 ?Y15))
                          :ADD ((HAVE ?X15) (UNFASTENED ?Y15))
                          :DELE ((LOOSE ?X15 ?Y15))))
            ((OFF-GROUND ?Y15)
             #S(PLAN-STEP :ID 15 :ACTION (UNDO ?X15 ?Y15)
                          :PRECOND
                          ((OFF-GROUND ?Y15) (HAVE WRENCH) (LOOSE ?X15 ?Y15))
                          :ADD ((HAVE ?X15) (UNFASTENED ?Y15))
                          :DELE ((LOOSE ?X15 ?Y15))))
            ((INFLATED WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
                           (IN JACK BOOT) (IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
                           (IN JACK BOOT) (IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((IN PUMP BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
                           (IN JACK BOOT) (IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((TIGHT NUTS WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
                           (IN JACK BOOT) (IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((CLOSED BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
                           (IN JACK BOOT) (IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
                           (IN JACK BOOT) (IN PUMP BOOT) (TIGHT NUTS WHEEL2)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (16 steps)     CPU 11103166 
     Nodes (V = 615630; Q = 0   ; C = 1423177)             Branch 0.0       
     Working Unifies: 2299828                         Bindings added: 973727

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB) (IN PUMP BOOT)
            (IN WHEEL1 BOOT) (IN JACK BOOT) (INFLATED WHEEL2)
            (IN WRENCH BOOT)) 

SNLP ():


Initial  : ((ON-GROUND WHEEL1) (CLOSED BOOT) (INTACT WHEEL2) (IN JACK BOOT)
            (FLAT WHEEL2) (TIGHT NUTS WHEEL1) (IN PUMP BOOT) (ON WHEEL1 HUB)
            (IN WHEEL2 BOOT) (UNLOCKED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
            (IN WRENCH BOOT))

Step 1   : (OPEN BOOT)       Created 6 
Step 2   : (FETCH WHEEL2 BOOT)   Created 11
Step 3   : (PUT-ON-WHEEL ?Y18 HUB)   Created 19
Step 4   : (FETCH WRENCH BOOT)   Created 10
Step 5   : (FETCH JACK BOOT)   Created 5 
Step 6   : (LOOSEN NUTS WHEEL1)   Created 9 
Step 7   : (JACK-UP WHEEL1 HUB)   Created 4 
Step 8   : (UNDO NUTS WHEEL1)   Created 8 
Step 9   : (REMOVE-WHEEL WHEEL1 HUB)   Created 7 
Step 10  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 3 
Step 11  : (PUT-AWAY WHEEL1 BOOT)   Created 14
Step 12  : (PUT-ON-WHEEL ?Y17 ?Y18)   Created 18
Step 13  : (DO-UP NUTS WHEEL2)   Created 12
Step 14  : (DO-UP JACK ?Y17)   Created 17
Step 15  : (JACK-DOWN WHEEL2 HUB)   Created 2 
Step 16  : (UNDO JACK ?Y17)   Created 16
Step 17  : (PUT-AWAY JACK BOOT)   Created 15
Step 18  : (CLOSE BOOT)      Created 13
Step 19  : (TIGHTEN NUTS WHEEL2)   Created 1 

Goal     : ((TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB) (IN PUMP BOOT)
            (IN WHEEL1 BOOT) (IN JACK BOOT) (INFLATED WHEEL2) (IN WRENCH BOOT))
Unsafe   : (((19 (OFF-GROUND ?Y18) 18) 4) ((19 (OFF-GROUND ?Y18) 18) 7)) 
Open     : (((OFF-GROUND HUB) 19) ((FREE HUB) 19) ((HAVE ?Y18) 19)
            ((FREE ?Y18) 18) ((HAVE ?Y17) 18) ((HAVE JACK) 17)
            ((OFF-GROUND ?Y17) 17) ((HAVE WRENCH) 17) ((HAVE WRENCH) 16)
            ((OFF-GROUND ?Y17) 16) ((INFLATED WHEEL2) GOAL)
            ((IN WRENCH BOOT) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (19 steps)     CPU 9288284  
     Nodes (V = 764909; Q = 0   ; C = 1274227)             Branch 0.0       
     Working Unifies: 4121725                         Bindings added: 480551

TOCL ():


Initial  : ((ON-GROUND WHEEL1) (CLOSED BOOT) (INTACT WHEEL2) (IN JACK BOOT)
            (FLAT WHEEL2) (TIGHT NUTS WHEEL1) (IN PUMP BOOT) (ON WHEEL1 HUB)
            (IN WHEEL2 BOOT) (UNLOCKED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
            (IN WRENCH BOOT))

Step 1   : (JACK-UP ?Y19 ?Y20)  Created 20
Step 2   : (PUT-ON-WHEEL ?Y18 ?Y19)  Created 19
Step 3   : (DO-UP WHEEL1 ?Y18)  Created 18
Step 4   : (UNDO WHEEL1 ?Y18)  Created 17
Step 5   : (OPEN BOOT)      Created 6 
Step 6   : (FETCH WHEEL2 BOOT)  Created 11
Step 7   : (PUT-AWAY WHEEL1 BOOT)  Created 16
Step 8   : (FETCH WHEEL1 BOOT)  Created 15
Step 9   : (FETCH WRENCH BOOT)  Created 10
Step 10  : (LOOSEN NUTS WHEEL1)  Created 9 
Step 11  : (FETCH JACK BOOT)  Created 5 
Step 12  : (PUT-AWAY WHEEL1 BOOT)  Created 14
Step 13  : (CLOSE BOOT)     Created 13
Step 14  : (JACK-UP WHEEL1 HUB)  Created 4 
Step 15  : (UNDO NUTS WHEEL1)  Created 8 
Step 16  : (REMOVE-WHEEL WHEEL1 HUB)  Created 7 
Step 17  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 3 
Step 18  : (DO-UP NUTS WHEEL2)  Created 12
Step 19  : (JACK-DOWN WHEEL2 HUB)  Created 2 
Step 20  : (TIGHTEN NUTS WHEEL2)  Created 1 

Goal     : ((TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB) (IN PUMP BOOT)
            (IN WHEEL1 BOOT) (IN JACK BOOT) (INFLATED WHEEL2) (IN WRENCH BOOT))
Unsafe   : (((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((ON-GROUND WHEEL1) (CLOSED BOOT) (INTACT WHEEL2)
                            (IN JACK BOOT) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
                            (IN PUMP BOOT) (ON WHEEL1 HUB) (IN WHEEL2 BOOT)
                            (UNLOCKED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
                            (IN WRENCH BOOT))
                           :DELE NIL)
              (ON-GROUND WHEEL1)
              #S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK))))
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((ON-GROUND WHEEL1) (CLOSED BOOT) (INTACT WHEEL2)
                            (IN JACK BOOT) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
                            (IN PUMP BOOT) (ON WHEEL1 HUB) (IN WHEEL2 BOOT)
                            (UNLOCKED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
                            (IN WRENCH BOOT))
                           :DELE NIL)
              (ON-GROUND WHEEL1)
              #S(PLAN-STEP :ID 4 :ACTION (JACK-UP ?X4 ?Y4)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X4) (ON-GROUND ?Y4)
                            (ON ?X4 ?Y4))
                           :ADD ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))
                           :DELE
                           ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK))))
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((ON-GROUND WHEEL1) (CLOSED BOOT) (INTACT WHEEL2)
                            (IN JACK BOOT) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
                            (IN PUMP BOOT) (ON WHEEL1 HUB) (IN WHEEL2 BOOT)
                            (UNLOCKED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
                            (IN WRENCH BOOT))
                           :DELE NIL)
              (ON-GROUND WHEEL1)
              #S(PLAN-STEP :ID 9 :ACTION (LOOSEN ?X9 ?Y9)
                           :PRECOND
                           ((HAVE WRENCH) (TIGHT ?X9 ?Y9) (ON-GROUND ?Y9))
                           :ADD ((LOOSE ?X9 ?Y9)) :DELE ((TIGHT ?X9 ?Y9))))
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((ON-GROUND WHEEL1) (CLOSED BOOT) (INTACT WHEEL2)
                            (IN JACK BOOT) (FLAT WHEEL2) (TIGHT NUTS WHEEL1)
                            (IN PUMP BOOT) (ON WHEEL1 HUB) (IN WHEEL2 BOOT)
                            (UNLOCKED BOOT) (FLAT WHEEL1) (ON-GROUND HUB)
                            (IN WRENCH BOOT))
                           :DELE NIL)
              (ON-GROUND WHEEL1)
              #S(PLAN-STEP :ID 9 :ACTION (LOOSEN ?X9 ?Y9)
                           :PRECOND
                           ((HAVE WRENCH) (TIGHT ?X9 ?Y9) (ON-GROUND ?Y9))
                           :ADD ((LOOSE ?X9 ?Y9)) :DELE ((TIGHT ?X9 ?Y9))))
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))) 
Open     : (((ON ?Y19 ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((ON-GROUND ?Y20)
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((ON-GROUND ?Y19)
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((HAVE JACK)
             #S(PLAN-STEP :ID 20 :ACTION (JACK-UP ?X20 ?Y20)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X20) (ON-GROUND ?Y20)
                           (ON ?X20 ?Y20))
                          :ADD ((OFF-GROUND ?X20) (OFF-GROUND ?Y20))
                          :DELE
                          ((ON-GROUND ?X20) (ON-GROUND ?Y20) (HAVE JACK))))
            ((FREE ?Y19)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((HAVE ?Y18)
             #S(PLAN-STEP :ID 19 :ACTION (PUT-ON-WHEEL ?X19 ?Y19)
                          :PRECOND ((HAVE ?X19) (FREE ?Y19) (OFF-GROUND ?Y19))
                          :ADD
                          ((OFF-GROUND ?X19) (ON ?X19 ?Y19) (UNFASTENED ?X19))
                          :DELE ((HAVE ?X19) (FREE ?Y19))))
            ((HAVE WHEEL1)
             #S(PLAN-STEP :ID 18 :ACTION (DO-UP ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y18) (HAVE ?X18)
                           (UNFASTENED ?Y18))
                          :ADD ((LOOSE ?X18 ?Y18))
                          :DELE ((HAVE ?X18) (UNFASTENED ?Y18))))
            ((OFF-GROUND ?Y18)
             #S(PLAN-STEP :ID 18 :ACTION (DO-UP ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y18) (HAVE ?X18)
                           (UNFASTENED ?Y18))
                          :ADD ((LOOSE ?X18 ?Y18))
                          :DELE ((HAVE ?X18) (UNFASTENED ?Y18))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 18 :ACTION (DO-UP ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (OFF-GROUND ?Y18) (HAVE ?X18)
                           (UNFASTENED ?Y18))
                          :ADD ((LOOSE ?X18 ?Y18))
                          :DELE ((HAVE ?X18) (UNFASTENED ?Y18))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 17 :ACTION (UNDO ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?Y17) (HAVE WRENCH) (LOOSE ?X17 ?Y17))
                          :ADD ((HAVE ?X17) (UNFASTENED ?Y17))
                          :DELE ((LOOSE ?X17 ?Y17))))
            ((OFF-GROUND ?Y18)
             #S(PLAN-STEP :ID 17 :ACTION (UNDO ?X17 ?Y17)
                          :PRECOND
                          ((OFF-GROUND ?Y17) (HAVE WRENCH) (LOOSE ?X17 ?Y17))
                          :ADD ((HAVE ?X17) (UNFASTENED ?Y17))
                          :DELE ((LOOSE ?X17 ?Y17))))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB)
                           (IN PUMP BOOT) (IN WHEEL1 BOOT) (IN JACK BOOT)
                           (INFLATED WHEEL2) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((INFLATED WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB)
                           (IN PUMP BOOT) (IN WHEEL1 BOOT) (IN JACK BOOT)
                           (INFLATED WHEEL2) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((TIGHT NUTS WHEEL2) (CLOSED BOOT) (ON WHEEL2 HUB)
                           (IN PUMP BOOT) (IN WHEEL1 BOOT) (IN JACK BOOT)
                           (INFLATED WHEEL2) (IN WRENCH BOOT))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 11951483 
     Nodes (V = 622921; Q = 0   ; C = 1377385)             Branch 0.0       
     Working Unifies: 3364500                         Bindings added: 966611


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT) (IN JACK BOOT)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (CLOSED BOOT) (ON WHEEL2 HUB)) 

SNLP ():


Initial  : ((INTACT WHEEL2) (CLOSED BOOT) (IN WHEEL2 BOOT) (FLAT WHEEL2)
            (ON WHEEL1 HUB) (ON-GROUND WHEEL1) (UNLOCKED BOOT)
            (TIGHT NUTS WHEEL1) (IN PUMP BOOT) (IN JACK BOOT) (IN WRENCH BOOT)
            (ON-GROUND HUB) (FLAT WHEEL1))

Step 1   : (OPEN BOOT)       Created 2 
Step 2   : (FETCH WHEEL2 BOOT)   Created 12
Step 3   : (FETCH WRENCH BOOT)   Created 6 
Step 4   : (FETCH JACK BOOT)   Created 8 
Step 5   : (LOOSEN NUTS WHEEL1)   Created 5 
Step 6   : (JACK-UP WHEEL1 HUB)   Created 7 
Step 7   : (UNDO NUTS WHEEL1)   Created 4 
Step 8   : (REMOVE-WHEEL WHEEL1 HUB)   Created 3 
Step 9   : (PUT-ON-WHEEL ?Y19 ?Y20)   Created 20
Step 10  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 11
Step 11  : (DO-UP NUTS WHEEL2)   Created 13
Step 12  : (PUT-ON-WHEEL ?Y18 ?Y19)   Created 19
Step 13  : (PUT-AWAY WHEEL1 BOOT)   Created 1 
Step 14  : (JACK-DOWN WHEEL2 HUB)   Created 10
Step 15  : (TIGHTEN NUTS WHEEL2)   Created 9 
Step 16  : (PUT-ON-WHEEL ?Y17 ?Y18)   Created 18
Step 17  : (PUT-ON-WHEEL PUMP ?Y17)   Created 17
Step 18  : (REMOVE-WHEEL PUMP ?Y16)   Created 16
Step 19  : (INFLATE WHEEL2)   Created 15
Step 20  : (PUT-AWAY JACK BOOT)   Created 14

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT) (IN JACK BOOT)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (CLOSED BOOT) (ON WHEEL2 HUB))
Unsafe   : NIL 
Open     : (((OFF-GROUND ?Y20) 20) ((FREE ?Y20) 20) ((HAVE ?Y19) 20)
            ((FREE ?Y19) 19) ((HAVE ?Y18) 19) ((FREE ?Y18) 18)
            ((HAVE ?Y17) 18) ((FREE ?Y17) 17) ((HAVE PUMP) 17)
            ((ON PUMP ?Y16) 16) ((OFF-GROUND ?Y16) 16) ((OFF-GROUND PUMP) 16)
            ((IN WRENCH BOOT) GOAL) ((CLOSED BOOT) GOAL)
            ((ON WHEEL2 HUB) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (20 steps)     CPU 10049333 
     Nodes (V = 729270; Q = 0   ; C = 1278019)             Branch 0.0       
     Working Unifies: 4187453                         Bindings added: 531480

TOCL ():


Initial  : ((INTACT WHEEL2) (CLOSED BOOT) (IN WHEEL2 BOOT) (FLAT WHEEL2)
            (ON WHEEL1 HUB) (ON-GROUND WHEEL1) (UNLOCKED BOOT)
            (TIGHT NUTS WHEEL1) (IN PUMP BOOT) (IN JACK BOOT) (IN WRENCH BOOT)
            (ON-GROUND HUB) (FLAT WHEEL1))

Step 1   : (OPEN BOOT)      Created 2 
Step 2   : (FETCH WHEEL2 BOOT)  Created 12
Step 3   : (FETCH JACK BOOT)  Created 8 
Step 4   : (FETCH WRENCH BOOT)  Created 6 
Step 5   : (LOOSEN NUTS WHEEL1)  Created 5 
Step 6   : (JACK-UP WHEEL1 HUB)  Created 7 
Step 7   : (JACK-DOWN ?X19 HUB)  Created 19
Step 8   : (UNDO NUTS WHEEL1)  Created 4 
Step 9   : (TIGHTEN PUMP HUB)  Created 18
Step 10  : (REMOVE-WHEEL WHEEL1 HUB)  Created 3 
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)  Created 11
Step 12  : (DO-UP NUTS WHEEL2)  Created 13
Step 13  : (JACK-DOWN WHEEL2 HUB)  Created 10
Step 14  : (LOOSEN PUMP HUB)  Created 17
Step 15  : (UNDO PUMP HUB)  Created 16
Step 16  : (PUT-AWAY JACK BOOT)  Created 14
Step 17  : (INFLATE WHEEL2)  Created 15
Step 18  : (TIGHTEN NUTS WHEEL2)  Created 9 
Step 19  : (PUT-AWAY WHEEL1 BOOT)  Created 1 

Goal     : ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT) (IN JACK BOOT)
            (INFLATED WHEEL2) (IN WRENCH BOOT) (CLOSED BOOT) (ON WHEEL2 HUB))
Unsafe   : (((#S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK)))
              (OFF-GROUND WHEEL1)
              #S(PLAN-STEP :ID 4 :ACTION (UNDO ?X4 ?Y4)
                           :PRECOND
                           ((OFF-GROUND ?Y4) (HAVE WRENCH) (LOOSE ?X4 ?Y4))
                           :ADD ((HAVE ?X4) (UNFASTENED ?Y4))
                           :DELE ((LOOSE ?X4 ?Y4))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((INTACT WHEEL2) (CLOSED BOOT) (IN WHEEL2 BOOT)
                            (FLAT WHEEL2) (ON WHEEL1 HUB) (ON-GROUND WHEEL1)
                            (UNLOCKED BOOT) (TIGHT NUTS WHEEL1) (IN PUMP BOOT)
                            (IN JACK BOOT) (IN WRENCH BOOT) (ON-GROUND HUB)
                            (FLAT WHEEL1))
                           :DELE NIL)
              (ON-GROUND HUB)
              #S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 0 :ACTION NIL :PRECOND NIL
                           :ADD
                           ((INTACT WHEEL2) (CLOSED BOOT) (IN WHEEL2 BOOT)
                            (FLAT WHEEL2) (ON WHEEL1 HUB) (ON-GROUND WHEEL1)
                            (UNLOCKED BOOT) (TIGHT NUTS WHEEL1) (IN PUMP BOOT)
                            (IN JACK BOOT) (IN WRENCH BOOT) (ON-GROUND HUB)
                            (FLAT WHEEL1))
                           :DELE NIL)
              (ON-GROUND WHEEL1)
              #S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 8 :ACTION (FETCH ?X8 ?Y8)
                           :PRECOND ((IN ?X8 ?Y8) (OPEN ?Y8))
                           :ADD ((HAVE ?X8)) :DELE ((IN ?X8 ?Y8)))
              (HAVE JACK)
              #S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 3 :ACTION (REMOVE-WHEEL ?X3 ?Y3)
                           :PRECOND
                           ((OFF-GROUND ?X3) (OFF-GROUND ?Y3) (ON ?X3 ?Y3)
                            (UNFASTENED ?X3))
                           :ADD ((HAVE ?X3) (FREE ?Y3))
                           :DELE
                           ((OFF-GROUND ?X3) (ON ?X3 ?Y3) (UNFASTENED ?X3))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK)))
              (OFF-GROUND WHEEL1)
              #S(PLAN-STEP :ID 3 :ACTION (REMOVE-WHEEL ?X3 ?Y3)
                           :PRECOND
                           ((OFF-GROUND ?X3) (OFF-GROUND ?Y3) (ON ?X3 ?Y3)
                            (UNFASTENED ?X3))
                           :ADD ((HAVE ?X3) (FREE ?Y3))
                           :DELE
                           ((OFF-GROUND ?X3) (ON ?X3 ?Y3) (UNFASTENED ?X3))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 11 :ACTION (PUT-ON-WHEEL ?X11 ?Y11)
                           :PRECOND
                           ((HAVE ?X11) (FREE ?Y11) (OFF-GROUND ?Y11))
                           :ADD
                           ((OFF-GROUND ?X11) (ON ?X11 ?Y11)
                            (UNFASTENED ?X11))
                           :DELE ((HAVE ?X11) (FREE ?Y11))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((#S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                           :PRECOND
                           ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                            (ON ?X7 ?Y7))
                           :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                           :DELE
                           ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK)))
              (OFF-GROUND HUB)
              #S(PLAN-STEP :ID 10 :ACTION (JACK-DOWN ?X10 ?Y10)
                           :PRECOND
                           ((OFF-GROUND ?X10) (OFF-GROUND ?Y10)
                            (ON ?X10 ?Y10))
                           :ADD
                           ((ON-GROUND ?X10) (ON-GROUND ?Y10) (HAVE JACK))
                           :DELE ((OFF-GROUND ?X10) (OFF-GROUND ?Y10))))
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))) 
Open     : (((ON ?X19 HUB)
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((OFF-GROUND HUB)
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((OFF-GROUND ?X19)
             #S(PLAN-STEP :ID 19 :ACTION (JACK-DOWN ?X19 ?Y19)
                          :PRECOND
                          ((OFF-GROUND ?X19) (OFF-GROUND ?Y19) (ON ?X19 ?Y19))
                          :ADD ((ON-GROUND ?X19) (ON-GROUND ?Y19) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X19) (OFF-GROUND ?Y19))))
            ((LOOSE PUMP HUB)
             #S(PLAN-STEP :ID 18 :ACTION (TIGHTEN ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X18 ?Y18) (ON-GROUND ?Y18))
                          :ADD ((TIGHT ?X18 ?Y18)) :DELE ((LOOSE ?X18 ?Y18))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 18 :ACTION (TIGHTEN ?X18 ?Y18)
                          :PRECOND
                          ((HAVE WRENCH) (LOOSE ?X18 ?Y18) (ON-GROUND ?Y18))
                          :ADD ((TIGHT ?X18 ?Y18)) :DELE ((LOOSE ?X18 ?Y18))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 17 :ACTION (LOOSEN ?X17 ?Y17)
                          :PRECOND
                          ((HAVE WRENCH) (TIGHT ?X17 ?Y17) (ON-GROUND ?Y17))
                          :ADD ((LOOSE ?X17 ?Y17)) :DELE ((TIGHT ?X17 ?Y17))))
            ((HAVE WRENCH)
             #S(PLAN-STEP :ID 16 :ACTION (UNDO ?X16 ?Y16)
                          :PRECOND
                          ((OFF-GROUND ?Y16) (HAVE WRENCH) (LOOSE ?X16 ?Y16))
                          :ADD ((HAVE ?X16) (UNFASTENED ?Y16))
                          :DELE ((LOOSE ?X16 ?Y16))))
            ((OFF-GROUND HUB)
             #S(PLAN-STEP :ID 16 :ACTION (UNDO ?X16 ?Y16)
                          :PRECOND
                          ((OFF-GROUND ?Y16) (HAVE WRENCH) (LOOSE ?X16 ?Y16))
                          :ADD ((HAVE ?X16) (UNFASTENED ?Y16))
                          :DELE ((LOOSE ?X16 ?Y16))))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
                           (IN JACK BOOT) (INFLATED WHEEL2) (IN WRENCH BOOT)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((CLOSED BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
                           (IN JACK BOOT) (INFLATED WHEEL2) (IN WRENCH BOOT)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL))
            ((ON WHEEL2 HUB)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((IN WHEEL1 BOOT) (TIGHT NUTS WHEEL2) (IN PUMP BOOT)
                           (IN JACK BOOT) (INFLATED WHEEL2) (IN WRENCH BOOT)
                           (CLOSED BOOT) (ON WHEEL2 HUB))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (19 steps)     CPU 12466867 
     Nodes (V = 655954; Q = 0   ; C = 1394067)             Branch 0.0       
     Working Unifies: 3789954                         Bindings added: 695386


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
Goal     : ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB) (IN JACK BOOT)
            (IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
            (TIGHT NUTS WHEEL2)) 

SNLP ():


Initial  : ((ON WHEEL1 HUB) (INTACT WHEEL2) (FLAT WHEEL2) (IN JACK BOOT)
            (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1) (FLAT WHEEL1)
            (ON-GROUND WHEEL1) (CLOSED BOOT) (IN WRENCH BOOT) (UNLOCKED BOOT)
            (IN PUMP BOOT) (ON-GROUND HUB))

Step 1   : (JACK-UP ?Y10 ?Y11)   Created 11
Step 2   : (PUT-ON-WHEEL ?Y9 ?Y10)   Created 10
Step 3   : (PUT-ON-WHEEL ?Y8 ?Y9)   Created 9 
Step 4   : (PUT-ON-WHEEL WHEEL1 ?Y8)   Created 8 
Step 5   : (PUT-ON-WHEEL HUB WHEEL1)   Created 7 
Step 6   : (PUT-ON-WHEEL ?Y5 HUB)   Created 6 
Step 7   : (PUT-ON-WHEEL ?Y4 ?Y5)   Created 5 
Step 8   : (PUT-ON-WHEEL ?X3 ?Y4)   Created 4 
Step 9   : (JACK-DOWN ?X3 ?Y4)   Created 3 
Step 10  : (JACK-UP WHEEL1 HUB)   Created 2 
Step 11  : (PUT-ON-WHEEL WHEEL2 HUB)   Created 1 

Goal     : ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB) (IN JACK BOOT)
            (IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
            (TIGHT NUTS WHEEL2))
Unsafe   : NIL 
Open     : (((ON ?Y10 ?Y11) 11) ((ON-GROUND ?Y11) 11) ((ON-GROUND ?Y10) 11)
            ((HAVE JACK) 11) ((FREE ?Y10) 10) ((HAVE ?Y9) 10) ((FREE ?Y9) 9)
            ((HAVE ?Y8) 9) ((FREE ?Y8) 8) ((HAVE WHEEL1) 8) ((FREE WHEEL1) 7)
            ((HAVE HUB) 7) ((FREE HUB) 6) ((HAVE ?Y5) 6) ((FREE ?Y5) 5)
            ((HAVE ?Y4) 5) ((FREE ?Y4) 4) ((HAVE ?X3) 4) ((OFF-GROUND ?Y4) 3)
            ((OFF-GROUND ?X3) 3) ((FREE HUB) 1) ((HAVE WHEEL2) 1)
            ((IN JACK BOOT) GOAL) ((IN WRENCH BOOT) GOAL)
            ((IN WHEEL1 BOOT) GOAL) ((INFLATED WHEEL2) GOAL)
            ((TIGHT NUTS WHEEL2) GOAL))

POCL (Init = 13 ; Goals = 8 ) => Lose (11 steps)     CPU 12254184 
     Nodes (V = 574488; Q = 0   ; C = 1516384)             Branch 0.0       
     Working Unifies: 2847614                         Bindings added: 1273979

TOCL ():


Initial  : ((ON WHEEL1 HUB) (INTACT WHEEL2) (FLAT WHEEL2) (IN JACK BOOT)
            (IN WHEEL2 BOOT) (TIGHT NUTS WHEEL1) (FLAT WHEEL1)
            (ON-GROUND WHEEL1) (CLOSED BOOT) (IN WRENCH BOOT) (UNLOCKED BOOT)
            (IN PUMP BOOT) (ON-GROUND HUB))

Step 1   : (JACK-UP ?Y8 ?Y9)  Created 9 
Step 2   : (PUT-ON-WHEEL ?X7 ?Y8)  Created 8 
Step 3   : (JACK-UP ?X7 ?Y8)  Created 7 
Step 4   : (PUT-ON-WHEEL ?Y5 ?Y8)  Created 6 
Step 5   : (PUT-ON-WHEEL ?X4 ?Y5)  Created 5 
Step 6   : (JACK-DOWN ?X4 ?Y5)  Created 4 
Step 7   : (JACK-UP WHEEL1 HUB)  Created 3 
Step 8   : (PUT-ON-WHEEL HUB WHEEL1)  Created 2 
Step 9   : (PUT-ON-WHEEL WHEEL2 HUB)  Created 1 

Goal     : ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB) (IN JACK BOOT)
            (IN WRENCH BOOT) (IN WHEEL1 BOOT) (INFLATED WHEEL2)
            (TIGHT NUTS WHEEL2))
Unsafe   : NIL 
Open     : (((ON ?Y8 ?Y9)
             #S(PLAN-STEP :ID 9 :ACTION (JACK-UP ?X9 ?Y9)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X9) (ON-GROUND ?Y9)
                           (ON ?X9 ?Y9))
                          :ADD ((OFF-GROUND ?X9) (OFF-GROUND ?Y9))
                          :DELE
                          ((ON-GROUND ?X9) (ON-GROUND ?Y9) (HAVE JACK))))
            ((ON-GROUND ?Y9)
             #S(PLAN-STEP :ID 9 :ACTION (JACK-UP ?X9 ?Y9)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X9) (ON-GROUND ?Y9)
                           (ON ?X9 ?Y9))
                          :ADD ((OFF-GROUND ?X9) (OFF-GROUND ?Y9))
                          :DELE
                          ((ON-GROUND ?X9) (ON-GROUND ?Y9) (HAVE JACK))))
            ((ON-GROUND ?Y8)
             #S(PLAN-STEP :ID 9 :ACTION (JACK-UP ?X9 ?Y9)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X9) (ON-GROUND ?Y9)
                           (ON ?X9 ?Y9))
                          :ADD ((OFF-GROUND ?X9) (OFF-GROUND ?Y9))
                          :DELE
                          ((ON-GROUND ?X9) (ON-GROUND ?Y9) (HAVE JACK))))
            ((HAVE JACK)
             #S(PLAN-STEP :ID 9 :ACTION (JACK-UP ?X9 ?Y9)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X9) (ON-GROUND ?Y9)
                           (ON ?X9 ?Y9))
                          :ADD ((OFF-GROUND ?X9) (OFF-GROUND ?Y9))
                          :DELE
                          ((ON-GROUND ?X9) (ON-GROUND ?Y9) (HAVE JACK))))
            ((FREE ?Y8)
             #S(PLAN-STEP :ID 8 :ACTION (PUT-ON-WHEEL ?X8 ?Y8)
                          :PRECOND ((HAVE ?X8) (FREE ?Y8) (OFF-GROUND ?Y8))
                          :ADD
                          ((OFF-GROUND ?X8) (ON ?X8 ?Y8) (UNFASTENED ?X8))
                          :DELE ((HAVE ?X8) (FREE ?Y8))))
            ((HAVE ?X7)
             #S(PLAN-STEP :ID 8 :ACTION (PUT-ON-WHEEL ?X8 ?Y8)
                          :PRECOND ((HAVE ?X8) (FREE ?Y8) (OFF-GROUND ?Y8))
                          :ADD
                          ((OFF-GROUND ?X8) (ON ?X8 ?Y8) (UNFASTENED ?X8))
                          :DELE ((HAVE ?X8) (FREE ?Y8))))
            ((ON-GROUND ?Y8)
             #S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                           (ON ?X7 ?Y7))
                          :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                          :DELE
                          ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK))))
            ((ON-GROUND ?X7)
             #S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                           (ON ?X7 ?Y7))
                          :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                          :DELE
                          ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK))))
            ((HAVE JACK)
             #S(PLAN-STEP :ID 7 :ACTION (JACK-UP ?X7 ?Y7)
                          :PRECOND
                          ((HAVE JACK) (ON-GROUND ?X7) (ON-GROUND ?Y7)
                           (ON ?X7 ?Y7))
                          :ADD ((OFF-GROUND ?X7) (OFF-GROUND ?Y7))
                          :DELE
                          ((ON-GROUND ?X7) (ON-GROUND ?Y7) (HAVE JACK))))
            ((FREE ?Y8)
             #S(PLAN-STEP :ID 6 :ACTION (PUT-ON-WHEEL ?X6 ?Y6)
                          :PRECOND ((HAVE ?X6) (FREE ?Y6) (OFF-GROUND ?Y6))
                          :ADD
                          ((OFF-GROUND ?X6) (ON ?X6 ?Y6) (UNFASTENED ?X6))
                          :DELE ((HAVE ?X6) (FREE ?Y6))))
            ((HAVE ?Y5)
             #S(PLAN-STEP :ID 6 :ACTION (PUT-ON-WHEEL ?X6 ?Y6)
                          :PRECOND ((HAVE ?X6) (FREE ?Y6) (OFF-GROUND ?Y6))
                          :ADD
                          ((OFF-GROUND ?X6) (ON ?X6 ?Y6) (UNFASTENED ?X6))
                          :DELE ((HAVE ?X6) (FREE ?Y6))))
            ((FREE ?Y5)
             #S(PLAN-STEP :ID 5 :ACTION (PUT-ON-WHEEL ?X5 ?Y5)
                          :PRECOND ((HAVE ?X5) (FREE ?Y5) (OFF-GROUND ?Y5))
                          :ADD
                          ((OFF-GROUND ?X5) (ON ?X5 ?Y5) (UNFASTENED ?X5))
                          :DELE ((HAVE ?X5) (FREE ?Y5))))
            ((HAVE ?X4)
             #S(PLAN-STEP :ID 5 :ACTION (PUT-ON-WHEEL ?X5 ?Y5)
                          :PRECOND ((HAVE ?X5) (FREE ?Y5) (OFF-GROUND ?Y5))
                          :ADD
                          ((OFF-GROUND ?X5) (ON ?X5 ?Y5) (UNFASTENED ?X5))
                          :DELE ((HAVE ?X5) (FREE ?Y5))))
            ((OFF-GROUND ?Y5)
             #S(PLAN-STEP :ID 4 :ACTION (JACK-DOWN ?X4 ?Y4)
                          :PRECOND
                          ((OFF-GROUND ?X4) (OFF-GROUND ?Y4) (ON ?X4 ?Y4))
                          :ADD ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))))
            ((OFF-GROUND ?X4)
             #S(PLAN-STEP :ID 4 :ACTION (JACK-DOWN ?X4 ?Y4)
                          :PRECOND
                          ((OFF-GROUND ?X4) (OFF-GROUND ?Y4) (ON ?X4 ?Y4))
                          :ADD ((ON-GROUND ?X4) (ON-GROUND ?Y4) (HAVE JACK))
                          :DELE ((OFF-GROUND ?X4) (OFF-GROUND ?Y4))))
            ((FREE WHEEL1)
             #S(PLAN-STEP :ID 2 :ACTION (PUT-ON-WHEEL ?X2 ?Y2)
                          :PRECOND ((HAVE ?X2) (FREE ?Y2) (OFF-GROUND ?Y2))
                          :ADD
                          ((OFF-GROUND ?X2) (ON ?X2 ?Y2) (UNFASTENED ?X2))
                          :DELE ((HAVE ?X2) (FREE ?Y2))))
            ((HAVE HUB)
             #S(PLAN-STEP :ID 2 :ACTION (PUT-ON-WHEEL ?X2 ?Y2)
                          :PRECOND ((HAVE ?X2) (FREE ?Y2) (OFF-GROUND ?Y2))
                          :ADD
                          ((OFF-GROUND ?X2) (ON ?X2 ?Y2) (UNFASTENED ?X2))
                          :DELE ((HAVE ?X2) (FREE ?Y2))))
            ((FREE HUB)
             #S(PLAN-STEP :ID 1 :ACTION (PUT-ON-WHEEL ?X1 ?Y1)
                          :PRECOND ((HAVE ?X1) (FREE ?Y1) (OFF-GROUND ?Y1))
                          :ADD
                          ((OFF-GROUND ?X1) (ON ?X1 ?Y1) (UNFASTENED ?X1))
                          :DELE ((HAVE ?X1) (FREE ?Y1))))
            ((HAVE WHEEL2)
             #S(PLAN-STEP :ID 1 :ACTION (PUT-ON-WHEEL ?X1 ?Y1)
                          :PRECOND ((HAVE ?X1) (FREE ?Y1) (OFF-GROUND ?Y1))
                          :ADD
                          ((OFF-GROUND ?X1) (ON ?X1 ?Y1) (UNFASTENED ?X1))
                          :DELE ((HAVE ?X1) (FREE ?Y1))))
            ((IN JACK BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
                           (IN JACK BOOT) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL))
            ((IN WRENCH BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
                           (IN JACK BOOT) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL))
            ((IN WHEEL1 BOOT)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
                           (IN JACK BOOT) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL))
            ((INFLATED WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
                           (IN JACK BOOT) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL))
            ((TIGHT NUTS WHEEL2)
             #S(PLAN-STEP :ID GOAL :ACTION NIL
                          :PRECOND
                          ((CLOSED BOOT) (IN PUMP BOOT) (ON WHEEL2 HUB)
                           (IN JACK BOOT) (IN WRENCH BOOT) (IN WHEEL1 BOOT)
                           (INFLATED WHEEL2) (TIGHT NUTS WHEEL2))
                          :ADD NIL :DELE NIL)))

TOCL (Init = 13 ; Goals = 8 ) => Lose (9 steps)     CPU 9086534  
     Nodes (V = 667024; Q = 0   ; C = 1405450)             Branch 0.0       
     Working Unifies: 2208039                         Bindings added: 1000632

