
ff: parsing domain file
domain 'GRID' defined
 ... done.
ff: parsing problem file
problem 'STRIPS-GRID-Y-1' defined
 ... done.



Cueing down from goal distance:   12 into depth [1]
                                  11            [1]
                                  10            [1]
                                   9            [1][2]
                                   8            [1][2]
                                   6            [1]
                                   5            [1][2]
                                   4            [1]
                                   3            [1]
                                   2            [1]
                                   1            [1]
                                   0            

ff: found legal plan as follows

step    0: MOVE NODE2-4 NODE1-4
        1: MOVE NODE1-4 NODE0-4
        2: MOVE NODE0-4 NODE0-3
        3: MOVE NODE0-3 NODE0-2
        4: PICKUP NODE0-2 KEY3
        5: MOVE NODE0-2 NODE0-3
        6: MOVE NODE0-3 NODE1-3
        7: UNLOCK NODE1-3 NODE2-3 KEY3 SQUARE
        8: MOVE NODE1-3 NODE2-3
        9: PICKUP NODE2-3 KEY0
       10: MOVE NODE2-3 NODE1-3
       11: MOVE NODE1-3 NODE1-2
       12: MOVE NODE1-2 NODE1-1
       13: PUTDOWN NODE1-1 KEY0
     

time spent:    0.05 seconds instantiating 2384 easy, 0 hard action templates
               0.04 seconds reachability analysis, yielding 292 facts and 2384 actions
               0.05 seconds creating final representation with 275 relevant facts
               0.04 seconds building connectivity graph
               0.05 seconds searching, evaluating 20 states, to a max depth of 2
               0.23 seconds total time


ff: parsing domain file
domain 'GRID' defined
 ... done.
ff: parsing problem file
problem 'STRIPS-GRID-Y-2' defined
 ... done.



Cueing down from goal distance:   35 into depth [1]
                                  31            [1]
                                  25            [1]
                                  24            [1]
                                  23            [1][2][3][4][5]
                                  22            [1]
                                  21            [1][2]
                                  20            [1]
                                  18            [1][2]
                                  15            [1][2]
                                  14            [1]
                                  13            [1][2]
                                  12            [1][2]
                                  11            [1]
                                  10            [1][2]
                                   9            [1][2]
                                   7            [1][2][3][4][5][6]
                                   6            [1]
                                   5            [1]
                                   4            [1]
                                   3            [1]
                                   2            [1]
                                   1            [1]
                                   0            

ff: found legal plan as follows

step    0: MOVE NODE5-5 NODE4-5
        1: MOVE NODE4-5 NODE3-5
        2: MOVE NODE3-5 NODE2-5
        3: MOVE NODE2-5 NODE2-4
        4: MOVE NODE2-4 NODE1-4
        5: MOVE NODE1-4 NODE1-5
        6: PICKUP NODE1-5 KEY3
        7: MOVE NODE1-5 NODE0-5
        8: MOVE NODE0-5 NODE0-4
        9: MOVE NODE0-4 NODE0-3
       10: MOVE NODE0-3 NODE0-2
       11: MOVE NODE0-2 NODE1-2
       12: MOVE NODE1-2 NODE2-2
       13: MOVE NODE2-2 NODE2-1
       14: MOVE NODE2-1 NODE3-1
       15: UNLOCK NODE3-1 NODE3-2 KEY3 TRIANGLE
       16: MOVE NODE3-1 NODE4-1
       17: UNLOCK NODE4-1 NODE4-2 KEY3 TRIANGLE
       18: MOVE NODE4-1 NODE4-2
       19: UNLOCK NODE4-2 NODE4-3 KEY3 TRIANGLE
       20: MOVE NODE4-2 NODE4-3
       21: PICKUP NODE4-3 KEY8
       22: MOVE NODE4-3 NODE4-2
       23: MOVE NODE4-2 NODE3-2
       24: PUTDOWN NODE3-2 KEY8
       25: MOVE NODE3-2 NODE4-2
       26: MOVE NODE4-2 NODE4-1
       27: MOVE NODE4-1 NODE3-1
       28: MOVE NODE3-1 NODE2-1
       29: MOVE NODE2-1 NODE1-1
       30: MOVE NODE1-1 NODE0-1
       31: MOVE NODE0-1 NODE0-0
       32: PICKUP NODE0-0 KEY0
       33: MOVE NODE0-0 NODE1-0
       34: MOVE NODE1-0 NODE2-0
       35: MOVE NODE2-0 NODE3-0
       36: MOVE NODE3-0 NODE4-0
       37: MOVE NODE4-0 NODE4-1
       38: PUTDOWN NODE4-1 KEY0
     

time spent:    0.07 seconds instantiating 4140 easy, 0 hard action templates
               0.07 seconds reachability analysis, yielding 450 facts and 4140 actions
               0.08 seconds creating final representation with 422 relevant facts
               0.07 seconds building connectivity graph
               0.55 seconds searching, evaluating 81 states, to a max depth of 6
               0.84 seconds total time


ff: parsing domain file
domain 'GRID' defined
 ... done.
ff: parsing problem file
problem 'STRIPS-GRID-Y-3' defined
 ... done.



Cueing down from goal distance:   27 into depth [1][2]
                                  26            [1]
                                  25            [1][2]
                                  24            [1][2][3][4][5]
                                  23            [1][2][3][4][5]
                                  22            [1]
                                  21            [1][2][3]
                                  20            [1][2][3][4][5]
                                  19            [1]
                                  18            [1]
                                  17            [1][2]
                                  16            [1]
                                  15            [1][2]
                                  14            [1]
                                  13            [1]
                                  12            [1]
                                  11            [1]
                                  10            [1][2][3]
                                   9            [1][2]
                                   8            [1]
                                   7            [1]
                                   6            [1]
                                   5            [1]
                                   4            [1]
                                   3            [1]
                                   2            [1]

Enforced Hill-climbing failed !
switching to Best-first Search now.

advancing to distance :   27
                          26
                          25
                          24
                          23
                          22
                          20
                          19
                          18
                          17
                          16
                          15
                          14
                          13
                          12
                          11
                          10
                           9
                           8
                           7
                           6
                           5
                           4
                           3
                           2
                           1
                           0

ff: found legal plan as follows

step    0: MOVE NODE3-4 NODE2-4
        1: PICKUP NODE2-4 KEY1
        2: PICKUP NODE2-4 KEY4
        3: MOVE NODE2-4 NODE1-4
        4: PICKUP NODE1-4 KEY0
        5: PICKUP NODE1-4 KEY9
        6: MOVE NODE1-4 NODE2-4
        7: UNLOCK NODE2-4 NODE2-3 KEY0 DIAMOND
        8: MOVE NODE2-4 NODE2-3
        9: UNLOCK NODE2-3 NODE2-2 KEY0 DIAMOND
       10: MOVE NODE2-3 NODE2-2
       11: UNLOCK NODE2-2 NODE3-2 KEY0 DIAMOND
       12: MOVE NODE2-2 NODE1-2
       13: MOVE NODE1-2 NODE1-1
       14: MOVE NODE1-1 NODE1-0
       15: PUTDOWN NODE1-0 KEY9
       16: MOVE NODE1-0 NODE2-0
       17: MOVE NODE2-0 NODE2-1
       18: MOVE NODE2-1 NODE2-2
       19: MOVE NODE2-2 NODE2-3
       20: UNLOCK NODE2-3 NODE3-3 KEY0 DIAMOND
       21: MOVE NODE2-3 NODE3-3
       22: MOVE NODE3-3 NODE3-2
       23: PICKUP NODE3-2 KEY2
       24: MOVE NODE3-2 NODE3-3
       25: MOVE NODE3-3 NODE3-4
       26: MOVE NODE3-4 NODE3-5
       27: MOVE NODE3-5 NODE4-5
       28: MOVE NODE4-5 NODE4-6
       29: PUTDOWN NODE4-6 KEY1
       30: MOVE NODE4-6 NODE5-6
       31: PUTDOWN NODE5-6 KEY4
       32: MOVE NODE5-6 NODE4-6
       33: MOVE NODE4-6 NODE3-6
       34: MOVE NODE3-6 NODE2-6
       35: MOVE NODE2-6 NODE1-6
       36: MOVE NODE1-6 NODE0-6
       37: MOVE NODE0-6 NODE0-5
       38: PUTDOWN NODE0-5 KEY2
       39: PUTDOWN NODE0-5 KEY0
     

time spent:    0.09 seconds instantiating 6716 easy, 0 hard action templates
               0.12 seconds reachability analysis, yielding 658 facts and 6716 actions
               0.13 seconds creating final representation with 619 relevant facts
               0.13 seconds building connectivity graph
               7.34 seconds searching, evaluating 598 states, to a max depth of 5
               7.81 seconds total time


ff: parsing domain file
domain 'GRID' defined
 ... done.
ff: parsing problem file
problem 'STRIPS-GRID-Y-4' defined
 ... done.



Cueing down from goal distance:   31 into depth [1]
                                  28            [1]
                                  26            [1][2]
                                  25            [1][2][3][4]
                                  23            [1][2][3][4]
                                  22            [1]
                                  21            [1][2]
                                  20            [1][2]
                                  19            [1]
                                  18            [1]
                                  17            [1][2][3]
                                  15            [1]
                                  14            [1]
                                  13            [1][2][3][4][5][6][7]
                                  12            [1]
                                  10            [1][2][3][4]
                                   9            [1]
                                   8            [1]
                                   7            [1]
                                   6            [1]
                                   5            [1]
                                   4            [1]
                                   3            [1]
                                   2            [1]
                                   1            [1]
                                   0            

ff: found legal plan as follows

step    0: MOVE NODE4-4 NODE3-4
        1: MOVE NODE3-4 NODE3-3
        2: MOVE NODE3-3 NODE2-3
        3: MOVE NODE2-3 NODE1-3
        4: MOVE NODE1-3 NODE0-3
        5: PICKUP NODE0-3 KEY3
        6: MOVE NODE0-3 NODE0-4
        7: MOVE NODE0-4 NODE1-4
        8: MOVE NODE1-4 NODE2-4
        9: MOVE NODE2-4 NODE2-3
       10: MOVE NODE2-3 NODE2-2
       11: MOVE NODE2-2 NODE2-1
       12: MOVE NODE2-1 NODE3-1
       13: MOVE NODE3-1 NODE4-1
       14: UNLOCK NODE4-1 NODE5-1 KEY3 SQUARE
       15: MOVE NODE4-1 NODE5-1
       16: PICKUP NODE5-1 KEY4
       17: MOVE NODE5-1 NODE4-1
       18: MOVE NODE4-1 NODE3-1
       19: MOVE NODE3-1 NODE3-0
       20: PUTDOWN NODE3-0 KEY3
       21: MOVE NODE3-0 NODE3-1
       22: MOVE NODE3-1 NODE2-1
       23: MOVE NODE2-1 NODE1-1
       24: MOVE NODE1-1 NODE1-2
       25: MOVE NODE1-2 NODE1-3
       26: MOVE NODE1-3 NODE1-4
       27: MOVE NODE1-4 NODE1-5
       28: MOVE NODE1-5 NODE1-6
       29: PICKUP NODE1-6 KEY0
       30: MOVE NODE1-6 NODE1-5
       31: MOVE NODE1-5 NODE1-4
       32: MOVE NODE1-4 NODE1-3
       33: MOVE NODE1-3 NODE1-2
       34: MOVE NODE1-2 NODE1-1
       35: PUTDOWN NODE1-1 KEY0
       36: MOVE NODE1-1 NODE1-2
       37: MOVE NODE1-2 NODE1-3
       38: MOVE NODE1-3 NODE1-4
       39: MOVE NODE1-4 NODE2-4
       40: MOVE NODE2-4 NODE3-4
       41: MOVE NODE3-4 NODE4-4
       42: MOVE NODE4-4 NODE5-4
       43: MOVE NODE5-4 NODE6-4
       44: PUTDOWN NODE6-4 KEY4
     

time spent:    0.12 seconds instantiating 10382 easy, 0 hard action templates
               0.18 seconds reachability analysis, yielding 916 facts and 10382 actions
               0.21 seconds creating final representation with 860 relevant facts
               0.19 seconds building connectivity graph
               2.58 seconds searching, evaluating 143 states, to a max depth of 7
               3.28 seconds total time


ff: parsing domain file
domain 'GRID' defined
 ... done.
ff: parsing problem file
problem 'STRIPS-GRID-Y-5' defined
 ... done.



Cueing down from goal distance:   76 into depth [1]
                                  74            [1]
                                  72            [1]
                                  68            [1]
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                                  62            [1][2]
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                                  35            [1][2][3][4]
                                  34            [1]
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                                  29            [1][2][3][4][5][6]
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                                  27            [1][2][3][4][5][6][7][8][9][10]
                                  26            [1][2][3][4][5][6][7][8][9][10][11]
                                  25            [1][2][3][4][5][6][7][8][9][10]
                                  24            [1][2][3][4][5][6][7][8][9][10][11][12]
                                  23            [1][2][3][4][5]
                                  22            [1][2][3][4][5][6][7][8][9][10][11][12][13]
                                  19            [1][2][3][4][5][6][7][8][9][10][11][12][13][14]
                                  17            [1]
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                                  10            [1][2][3][4][5][6][7][8]
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                                   4            [1]
                                   3            [1]
                                   2            [1]