;;; Wouldwork subgoal progress
;;; Problem: RUMIN-TOPO
;;; Accepted checkpoints: 1
;;; Cumulative actions: 25
;;; Recorder: cycle 1 closed
;;; Restore after staging this problem with IMPORT-SUBGOAL-PROGRESS.
;;; This file is readable data. Import replays and validates every action.


(:WOULDWORK-SUBGOAL-PROGRESS :VERSION 1 :PROBLEM RUMIN-TOPO :POLICY
 (SOLVE-RECORDER-SUBGOAL-FORM SOLVE-RECORDER-FINAL RUN-RECORDER-SUBGOAL-PLANNER
                              VALIDATE-RECORDER-GOAL-CHAIN-PREFIX COMMIT-RECORDER-GOAL-CHAIN
                              RECORDER-GOAL-CHAIN-STATE-CONTEXT
                              SNAPSHOT-RECORDER-GOAL-CHAIN-SETTINGS
                              CALL-WITH-RECORDER-GOAL-CHAIN-SETTINGS)
 :ORIGINAL-GOAL (AND (HAS-LOCATION AGENT1 LOCATION16) (GHOST-STOPS-RECORDER)) :ORIGIN
 (:FACTS
  ((HAS-LOCATION AGENT1 LOCATION3) (HAS-LOCATION BOX1 LOCATION7)
   (HAS-LOCATION CONNECTOR1 LOCATION13) (HAS-LOCATION CONNECTOR2 LOCATION10)
   (HAS-LOCATION TRAY1 LOCATION2) (OPEN GATE2) (PAIRED CONNECTOR1 RECEIVER1)
   (RECORDING-OPEN GATE2))
  :HAPPENING-FACTS NIL :HAPPENINGS NIL :TIME 0.0 :VALUE 0.0 :POLICY-CONTEXT
  (:CYCLE-COUNT 0 :RECORDING-OPEN-P NIL))
 :CHECKPOINTS
 ((:NUMBER 1 :GOAL
   (AND (HAS-LOCATION AGENT1 LOCATION3) (HAS-LOCATION TRAY1 LOCATION3)
        (HAS-LOCATION CONNECTOR1 LOCATION3) (HAS-LOCATION BOX1 LOCATION8) (GHOST-STOPS-RECORDER))
   :FINAL-P NIL :SETTINGS
   (:BINDINGS
    ((*DEPTH-CUTOFF* . 25) (*ALGORITHM* . DEPTH-FIRST) (*TREE-OR-GRAPH* . GRAPH)
     (*PROBLEM-TYPE* . PLANNING) (*SOLUTION-TYPE* . FIRST) (*RANDOMIZE-SEARCH*) (*BRANCH* . -1)
     (*SYMMETRY-PRUNING*) (*AUTO-WAIT*) (*AUTO-WAIT-MAX-TIME* . 100)
     (*MIN-STEPS-PRUNING-ENABLED* . T))
    :POLICY-SETTINGS
    ((*MAX-RECORDER-CYCLES* . 5) (*MAX-CONNECTOR-PAIRINGS* . 2) (*RECORDER-PREFIX-PRUNING*)
     (*MIN-STEPS-FALLBACK-WARMUP* . 512) (*MIN-STEPS-FALLBACK-SAMPLE-INTERVAL* . 64)))
   :DEPTH 25 :TIME 25.0 :VALUE 0.0 :ACTIONS
   ((1.0 (START-RECORDER AGENT1))
    (2.0
     (MOVE AGENT1
      ((WALK LOCATION3 NIL LOCATION2) (STAIRS LOCATION2 NIL LOCATION4)
       (WALK LOCATION4 NIL LOCATION13))))
    (3.0 (PICKUP-CONNECTOR AGENT1 CONNECTOR1 LOCATION13))
    (4.0 (MOVE AGENT1 ((WALK LOCATION13 NIL LOCATION4))))
    (5.0 (MOVE AGENT1* ((WALK LOCATION3 NIL LOCATION2))))
    (6.0 (PICKUP-TRAY AGENT1* TRAY1* LOCATION2 LOCATION2))
    (7.0 (CONNECT-CONNECTOR AGENT1 CONNECTOR1 LOCATION2 TRAY1* (CONNECTOR1* TRANSMITTER1)))
    (8.0 (MOVE AGENT1 ((STAIRS LOCATION4 NIL LOCATION2))))
    (9.0 (PICKUP-TRAY AGENT1 TRAY1 LOCATION2 LOCATION2))
    (10.0 (MOVE AGENT1 ((WALK LOCATION2 (GATE1) LOCATION1))))
    (11.0 (MOVE AGENT1* ((STAIRS LOCATION2 NIL LOCATION4))))
    (12.0 (MOVE AGENT1 ((WALK LOCATION1 (GATE2) LOCATION6))))
    (13.0 (PUT-TRAY AGENT1 TRAY1 PLATE1 LOCATION6))
    (14.0 (MOVE AGENT1 ((WALK LOCATION6 (GATE3) LOCATION7))))
    (15.0 (PICKUP-BOX AGENT1 BOX1 LOCATION7 LOCATION7))
    (16.0 (MOVE AGENT1 ((WALK LOCATION7 (GATE2 GATE3) LOCATION8))))
    (17.0 (PUT-BOX AGENT1 BOX1 GROUND LOCATION8))
    (18.0 (MOVE AGENT1 ((WALK LOCATION8 (GATE2) LOCATION6))))
    (19.0 (PICKUP-TRAY AGENT1 TRAY1 LOCATION6 LOCATION6))
    (20.0 (MOVE AGENT1 ((WALK LOCATION6 (GATE2) LOCATION1))))
    (21.0 (MOVE AGENT1* ((STAIRS LOCATION4 NIL LOCATION2))))
    (22.0 (MOVE AGENT1 ((WALK LOCATION1 (GATE1) LOCATION3))))
    (23.0 (MOVE AGENT1* ((WALK LOCATION2 NIL LOCATION3))))
    (24.0 (PUT-TRAY AGENT1* TRAY1* GROUND LOCATION3))
    (25.0 (STOP-RECORDER AGENT1*)))
   :ENDPOINT
   (:FACTS
    ((HAS-LOCATION AGENT1 LOCATION3) (HAS-LOCATION BOX1 LOCATION8)
     (HAS-LOCATION CONNECTOR1 LOCATION3) (HAS-LOCATION CONNECTOR2 LOCATION10)
     (HAS-LOCATION TRAY1 LOCATION3) (HOLDING1 AGENT1 TRAY1) (HOLDING2 AGENT1 TRAY1) (OPEN GATE2)
     (PAIRED CONNECTOR1 TRANSMITTER1) (RECORDER-CYCLE-CLOSED) (RECORDER-CYCLE-STOPPED-BY-GHOST)
     (RECORDER-CYCLES-USED 1) (RECORDING-OPEN GATE2))
    :HAPPENING-FACTS NIL :HAPPENINGS NIL :TIME 25.0 :VALUE 0.0 :POLICY-CONTEXT
    (:CYCLE-COUNT 1 :RECORDING-OPEN-P NIL)))))
