Exploring commences ... Beliefs: drill_count(0) memory_count(0) time_count(0) resources(explore(red1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(explore(red1)) activate(exp(rock1)) activate(position(rock1)) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): pending empty || ----------------------------------------------------- 0: Next events are [] Goal explore(red1) activate: pending -> active explore(red1) executing Completeness report: Neither branch known for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,140),res(time,560)] PR: [res(drill,2),res(memory,200),res(time,1120)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(explore(red1)) drill_count(0) memory_count(0) time_count(0) resources(explore(red1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(rock1)) activate(position(rock1)) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || exp(rock1): pending empty || ----------------------------------------------------- 1: Next events are [ev(thermal(rock1))] Goal exp(rock1) activate: pending -> active explore(red1) executing Completeness report: Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),0) exp(rock1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,50),res(time,80)] PR: [res(drill,0),res(memory,50),res(time,210)] CE: [eff(arm_positioned(rock1),0),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,170),res(time,560)] PR: [res(drill,1),res(memory,200),res(time,1070)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) time_count(0) resources(explore(red1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(position(rock1)) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: exp(rock1): active [subgoal(position(rock1)),subgoal(measuret(rock1))] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 2: Next events are [] exp(rock1) executing Completeness report: Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),0) exp(rock1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,50),res(time,80)] PR: [res(drill,0),res(memory,50),res(time,210)] CE: [eff(arm_positioned(rock1),0),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,170),res(time,560)] PR: [res(drill,1),res(memory,200),res(time,1070)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) time_count(0) resources(explore(red1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(position(rock1)) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: exp(rock1): active [positiontest(rock1)::[ask(arm_positioned(rock1))],subgoal(measuret(rock1))] || position(rock1): pending empty || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 3: Next events are [] Goal position(rock1) activate: pending -> active exp(rock1) executing Completeness report: position(rock1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,0),res(time,60)] PR: [res(drill,0),res(memory,0),res(time,180)] CE: [eff(arm_positioned(rock1),0)] S: [eff(arm_positioned(rock1),1)] DE: [eff(arm_positioned(rock1),1)] PE: [] CPE: [] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,170),res(time,560)] PR: [res(drill,1),res(memory,200),res(time,1070)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),0) exp(rock1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,50),res(time,80)] PR: [res(drill,0),res(memory,50),res(time,210)] CE: [eff(arm_positioned(rock1),0),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Beliefs: active(position(rock1)) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) time_count(0) resources(explore(red1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: position(rock1): active [positionarm(rock1)] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || exp(rock1): active [positiontest(rock1)::[ask(arm_positioned(rock1))],subgoal(measuret(rock1))] || ----------------------------------------------------- 4: Next events are [] position(rock1) executing Completeness report: position(rock1): DRC: 0.0% PRC: 0.0% SC: 100.0% DE: 100.0% PE: 100.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,0),res(time,60)] PR: [res(drill,0),res(memory,0),res(time,180)] CE: [eff(arm_positioned(rock1),1)] S: [eff(arm_positioned(rock1),1)] DE: [eff(arm_positioned(rock1),1)] PE: [] CPE: [] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,170),res(time,560)] PR: [res(drill,1),res(memory,200),res(time,1070)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,50),res(time,80)] PR: [res(drill,0),res(memory,50),res(time,210)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Beliefs: resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(explore(red1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) time_count(120) active(position(rock1)) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: position(rock1): active [] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || exp(rock1): active [positiontest(rock1)::[ask(arm_positioned(rock1))],subgoal(measuret(rock1))] || ----------------------------------------------------- 5: Next events are [] Goal position(rock1) drop: active -> dropped explore(red1) executing Completeness report: Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 42.9% PRC: 40.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 9.7% PRC: 4.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,170),res(time,500)] PR: [res(drill,1),res(memory,200),res(time,890)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(explore(red1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) time_count(120) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: exp(rock1): active [positiontest(rock1)::[ask(arm_positioned(rock1))],subgoal(measuret(rock1))] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 6: Next events are [] exp(rock1) executing Completeness report: Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 42.9% PRC: 40.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 9.7% PRC: 4.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,170),res(time,500)] PR: [res(drill,1),res(memory,200),res(time,890)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(explore(red1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) time_count(120) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: exp(rock1): active [ask(arm_positioned(rock1)),subgoal(measuret(rock1))] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 7: Next events are [] exp(rock1) executing Completeness report: Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 42.9% PRC: 40.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 9.7% PRC: 4.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,170),res(time,500)] PR: [res(drill,1),res(memory,200),res(time,890)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(explore(red1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) time_count(120) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: exp(rock1): active [subgoal(measuret(rock1))] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 8: Next events are [] exp(rock1) executing Completeness report: Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 42.9% PRC: 40.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 9.7% PRC: 4.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,170),res(time,500)] PR: [res(drill,1),res(memory,200),res(time,890)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(explore(red1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) time_count(120) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measuret(rock1)) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: exp(rock1): active [measurettest(rock1)::[ask(thermal_profile(rock1))]] || measuret(rock1): pending empty || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 9: Next events are [] Goal measuret(rock1) activate: pending -> active exp(rock1) executing Completeness report: Ignoring effect eff(thermal_profile(rock1),0) measuret(rock1): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(measured(rock1),0),eff(thermal_profile(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] PE: [] CPE: [] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 9.7% PRC: 4.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,170),res(time,500)] PR: [res(drill,1),res(memory,200),res(time,890)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 42.9% PRC: 40.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] Beliefs: active(measuret(rock1)) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(rock1),[res(drill,0),res(memory,0),res(time,120)]) resources(explore(red1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) time_count(120) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) memory_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: measuret(rock1): active [measurementt(rock1)] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || exp(rock1): active [measurettest(rock1)::[ask(thermal_profile(rock1))]] || ----------------------------------------------------- 10: Next events are [] measuret(rock1) executing Completeness report: Ignoring effect eff(thermal_profile(rock1),1) measuret(rock1): DRC: 0.0% PRC: 0.0% SC: 100.0% DE: 100.0% PE: 100.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] S: [eff(measured(rock1),1)] DE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] PE: [] CPE: [] Thermal branch for exp(rock1) Neither branch known for exp(target) explore(red1): DRC: 9.7% PRC: 4.0% SC: 25.0% DE: 25.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,170),res(time,500)] PR: [res(drill,1),res(memory,200),res(time,890)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Thermal branch for exp(rock1) Ignoring effect eff(arm_positioned(rock1),1) exp(rock1): DRC: 42.9% PRC: 40.0% SC: 100.0% DE: 100.0% PE: 75.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,0),res(memory,50),res(time,20)] PR: [res(drill,0),res(memory,50),res(time,30)] CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1)] Beliefs: resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) time_count(145) memory_count(50) active(measuret(rock1)) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) active(exp(rock1)) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: measuret(rock1): active [] || explore(red1): active [exptest(rock1)::[ask(measured(rock1))],subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || exp(rock1): active [measurettest(rock1)::[ask(thermal_profile(rock1))]] || ----------------------------------------------------- 11: Next events are [] Goal measuret(rock1) drop: active -> dropped Goal exp(rock1) drop: active -> dropped explore(red1) executing Completeness report: Neither branch known for exp(target) explore(red1): DRC: 26.3% PRC: 13.1% SC: 25.0% DE: 25.0% PE: 25.0% CR: [res(drill,0),res(memory,50),res(time,145)] DR: [res(drill,0),res(memory,120),res(time,480)] PR: [res(drill,1),res(memory,150),res(time,860)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) time_count(145) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [ask(measured(rock1)),subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 12: Next events are [] explore(red1) executing Completeness report: Neither branch known for exp(target) explore(red1): DRC: 26.3% PRC: 13.1% SC: 25.0% DE: 25.0% PE: 25.0% CR: [res(drill,0),res(memory,50),res(time,145)] DR: [res(drill,0),res(memory,120),res(time,480)] PR: [res(drill,1),res(memory,150),res(time,860)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) time_count(145) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [subgoal(traverse(rock1,canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 13: Next events are [] explore(red1) executing Completeness report: Neither branch known for exp(target) explore(red1): DRC: 26.3% PRC: 13.1% SC: 25.0% DE: 25.0% PE: 25.0% CR: [res(drill,0),res(memory,50),res(time,145)] DR: [res(drill,0),res(memory,120),res(time,480)] PR: [res(drill,1),res(memory,150),res(time,860)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) time_count(145) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(traverse(rock1,canyon)) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [traversetest(rock1,canyon)::[ask(at(canyon))],subgoal(survey(canyon))] || traverse(rock1,canyon): pending empty || ----------------------------------------------------- 14: Next events are [] Goal traverse(rock1,canyon) activate: pending -> active explore(red1) executing Completeness report: traverse(rock1,canyon): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,0),res(time,100)] PR: [res(drill,0),res(memory,0),res(time,300)] CE: [eff(at(canyon),0)] S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] Neither branch known for exp(target) explore(red1): DRC: 26.3% PRC: 13.1% SC: 25.0% DE: 25.0% PE: 25.0% CR: [res(drill,0),res(memory,50),res(time,145)] DR: [res(drill,0),res(memory,120),res(time,480)] PR: [res(drill,1),res(memory,150),res(time,860)] CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(traverse(rock1,canyon)) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) time_count(145) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: traverse(rock1,canyon): active [traverseaction(rock1,canyon)] || explore(red1): active [traversetest(rock1,canyon)::[ask(at(canyon))],subgoal(survey(canyon))] || ----------------------------------------------------- 15: Next events are [] traverse(rock1,canyon) executing Completeness report: traverse(rock1,canyon): DRC: 0.0% PRC: 0.0% SC: 100.0% DE: 100.0% PE: 100.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,0),res(time,100)] PR: [res(drill,0),res(memory,0),res(time,300)] CE: [eff(at(canyon),1)] S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] Neither branch known for exp(target) explore(red1): DRC: 26.3% PRC: 13.1% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,145)] DR: [res(drill,0),res(memory,120),res(time,480)] PR: [res(drill,1),res(memory,150),res(time,860)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) active(traverse(rock1,canyon)) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: traverse(rock1,canyon): active [] || explore(red1): active [traversetest(rock1,canyon)::[ask(at(canyon))],subgoal(survey(canyon))] || ----------------------------------------------------- 16: Next events are [] Goal traverse(rock1,canyon) drop: active -> dropped explore(red1) executing Completeness report: Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [ask(at(canyon)),subgoal(survey(canyon))] || ----------------------------------------------------- 17: Next events are [] explore(red1) executing Completeness report: Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [subgoal(survey(canyon))] || ----------------------------------------------------- 18: Next events are [] explore(red1) executing Completeness report: Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(survey(canyon)) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): pending empty || ----------------------------------------------------- 19: Next events are [] Goal survey(canyon) activate: pending -> active explore(red1) executing Completeness report: Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: survey(canyon): active [subgoal(id_targets(canyon)),subgoal(exp(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 20: Next events are [] survey(canyon) executing Completeness report: Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(id_targets(canyon)) activate(position(target)) Goals: survey(canyon): active [id_targetstest(canyon)::[ask(targetlist(canyon))],subgoal(exp(target))] || id_targets(canyon): pending empty || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 21: Next events are [] Goal id_targets(canyon) activate: pending -> active survey(canyon) executing Completeness report: id_targets(canyon): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,100),res(time,300)] PR: [res(drill,0),res(memory,100),res(time,300)] CE: [eff(targetlist(canyon),0)] S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 50.0% DE: 50.0% PE: 37.5% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(id_targets(canyon)) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) resources(explore(red1),[res(drill,0),res(memory,50),res(time,345)]) at(canyon) time_count(345) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) memory_count(50) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(survey(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(position(target)) Goals: id_targets(canyon): active [panoramic_process(canyon)] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [id_targetstest(canyon)::[ask(targetlist(canyon))],subgoal(exp(target))] || ----------------------------------------------------- 22: Next events are [] id_targets(canyon) executing Completeness report: id_targets(canyon): DRC: 0.0% PRC: 0.0% SC: 100.0% DE: 100.0% PE: 100.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,100),res(time,300)] PR: [res(drill,0),res(memory,100),res(time,300)] CE: [eff(targetlist(canyon),1)] S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] Neither branch known for exp(target) explore(red1): DRC: 38.5% PRC: 21.0% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,50),res(time,345)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 0.0% PRC: 0.0% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,120),res(time,380)] PR: [res(drill,1),res(memory,150),res(time,560)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(id_targets(canyon)) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(position(target)) Goals: id_targets(canyon): active [] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [id_targetstest(canyon)::[ask(targetlist(canyon))],subgoal(exp(target))] || ----------------------------------------------------- 23: Next events are [] Goal id_targets(canyon) drop: active -> dropped explore(red1) executing Completeness report: Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 81.1% PRC: 40.1% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,0),res(memory,20),res(time,80)] PR: [res(drill,1),res(memory,50),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) explore(red1): DRC: 88.6% PRC: 48.8% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,0),res(memory,20),res(time,80)] PR: [res(drill,1),res(memory,50),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(position(target)) Goals: survey(canyon): active [id_targetstest(canyon)::[ask(targetlist(canyon))],subgoal(exp(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 24: Next events are [] survey(canyon) executing Completeness report: Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 81.1% PRC: 40.1% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,0),res(memory,20),res(time,80)] PR: [res(drill,1),res(memory,50),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) explore(red1): DRC: 88.6% PRC: 48.8% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,0),res(memory,20),res(time,80)] PR: [res(drill,1),res(memory,50),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(position(target)) Goals: survey(canyon): active [ask(targetlist(canyon)),subgoal(exp(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 25: Next events are [] survey(canyon) executing Completeness report: Neither branch known for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 81.1% PRC: 40.1% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,0),res(memory,20),res(time,80)] PR: [res(drill,1),res(memory,50),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Neither branch known for exp(target) explore(red1): DRC: 88.6% PRC: 48.8% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,0),res(memory,20),res(time,80)] PR: [res(drill,1),res(memory,50),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(position(target)) Goals: survey(canyon): active [subgoal(exp(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 26: Next events are [ev(spectral(target))] survey(canyon) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 52.8% PRC: 45.6% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 58.3% PRC: 53.2% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(exp(target)) activate(measures(target)) activate(position(target)) Goals: survey(canyon): active [exptest(target)::[ask(measured(target))]] || exp(target): pending empty || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 27: Next events are [] Goal exp(target) activate: pending -> active survey(canyon) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) exp(target): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 58.3% PRC: 53.2% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 52.8% PRC: 45.6% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) activate(position(target)) Goals: exp(target): active [subgoal(position(target)),subgoal(measures(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || ----------------------------------------------------- 28: Next events are [] exp(target) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) exp(target): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 58.3% PRC: 53.2% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 52.8% PRC: 45.6% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) activate(position(target)) Goals: exp(target): active [positiontest(target)::[ask(arm_positioned(target))],subgoal(measures(target))] || position(target): pending empty || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || ----------------------------------------------------- 29: Next events are [] Goal position(target) activate: pending -> active exp(target) executing Completeness report: position(target): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,0),res(time,60)] PR: [res(drill,0),res(memory,0),res(time,180)] CE: [eff(arm_positioned(target),0)] S: [eff(arm_positioned(target),1)] DE: [eff(arm_positioned(target),1)] PE: [] CPE: [] Spectral branch for exp(target) explore(red1): DRC: 58.3% PRC: 53.2% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) survey(canyon): DRC: 52.8% PRC: 45.6% SC: 50.0% DE: 33.3% PE: 20.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),0) exp(target): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(arm_positioned(target),0),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(position(target)) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,300)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,645)]) targetlist(canyon) time_count(645) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(exp(target),[res(drill,0),res(memory,0),res(time,0)]) resources(position(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: position(target): active [positionarm(target)] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || exp(target): active [positiontest(target)::[ask(arm_positioned(target))],subgoal(measures(target))] || ----------------------------------------------------- 30: Next events are [] position(target) executing Completeness report: position(target): DRC: 0.0% PRC: 0.0% SC: 100.0% DE: 100.0% PE: 100.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,0),res(memory,0),res(time,60)] PR: [res(drill,0),res(memory,0),res(time,180)] CE: [eff(arm_positioned(target),1)] S: [eff(arm_positioned(target),1)] DE: [eff(arm_positioned(target),1)] PE: [] CPE: [] Spectral branch for exp(target) explore(red1): DRC: 58.3% PRC: 53.2% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,645)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 52.8% PRC: 45.6% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,300)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,1),res(memory,20),res(time,100)] PR: [res(drill,1),res(memory,20),res(time,260)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(position(target)) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: position(target): active [] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || exp(target): active [positiontest(target)::[ask(arm_positioned(target))],subgoal(measures(target))] || ----------------------------------------------------- 31: Next events are [] Goal position(target) drop: active -> dropped explore(red1) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: survey(canyon): active [exptest(target)::[ask(measured(target))]] || exp(target): active [positiontest(target)::[ask(arm_positioned(target))],subgoal(measures(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || ----------------------------------------------------- 32: Next events are [] survey(canyon) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: exp(target): active [positiontest(target)::[ask(arm_positioned(target))],subgoal(measures(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || ----------------------------------------------------- 33: Next events are [] exp(target) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: exp(target): active [ask(arm_positioned(target)),subgoal(measures(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || ----------------------------------------------------- 34: Next events are [] exp(target) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: exp(target): active [subgoal(measures(target))] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || ----------------------------------------------------- 35: Next events are [] exp(target) executing Completeness report: Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) activate(measures(target)) Goals: exp(target): active [measurestest(target)::[ask(spectral_profile(target))]] || measures(target): pending empty || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || ----------------------------------------------------- 36: Next events are [] Goal measures(target) activate: pending -> active exp(target) executing Completeness report: Ignoring effect eff(spectral_profile(target),0) measures(target): DRC: 0.0% PRC: 0.0% SC: 0.0% DE: 0.0% PE: 0.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(measured(target),0),eff(spectral_profile(target),0)] S: [eff(measured(target),1)] DE: [eff(measured(target),1),eff(spectral_profile(target),1)] PE: [] CPE: [] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 75.0% DE: 75.0% PE: 50.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 50.0% DE: 66.7% PE: 40.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 0.0% DE: 50.0% PE: 25.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),0)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] Beliefs: active(measures(target)) completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) resources(exp(target),[res(drill,0),res(memory,0),res(time,120)]) resources(survey(canyon),[res(drill,0),res(memory,100),res(time,420)]) resources(explore(red1),[res(drill,0),res(memory,150),res(time,765)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) memory_count(150) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) drill_count(0) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measures(target),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) Goals: measures(target): active [measurements(target)] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || exp(target): active [measurestest(target)::[ask(spectral_profile(target))]] || ----------------------------------------------------- 37: Next events are [] measures(target) executing Completeness report: Ignoring effect eff(spectral_profile(target),1) measures(target): DRC: 0.0% PRC: 0.0% SC: 100.0% DE: 100.0% PE: 100.0% CR: [res(drill,0),res(memory,0),res(time,0)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(measured(target),1),eff(spectral_profile(target),1)] S: [eff(measured(target),1)] DE: [eff(measured(target),1),eff(spectral_profile(target),1)] PE: [] CPE: [] Spectral branch for exp(target) explore(red1): DRC: 61.1% PRC: 59.6% SC: 100.0% DE: 100.0% PE: 75.0% CR: [res(drill,0),res(memory,150),res(time,765)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) survey(canyon): DRC: 58.2% PRC: 55.8% SC: 100.0% DE: 100.0% PE: 80.0% CR: [res(drill,0),res(memory,100),res(time,420)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),1),eff(thermal_profile(target),0)] Spectral branch for exp(target) Ignoring effect eff(arm_positioned(target),1) exp(target): DRC: 25.0% PRC: 20.0% SC: 100.0% DE: 100.0% PE: 75.0% CR: [res(drill,0),res(memory,0),res(time,120)] DR: [res(drill,1),res(memory,20),res(time,40)] PR: [res(drill,1),res(memory,20),res(time,80)] CE: [eff(arm_positioned(target),1),eff(measured(target),1)] S: [eff(measured(target),1)] DE: [eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),1),eff(thermal_profile(target),0)] Beliefs: resources(measures(target),[res(drill,1),res(memory,20),res(time,60)]) resources(exp(target),[res(drill,1),res(memory,20),res(time,180)]) resources(survey(canyon),[res(drill,1),res(memory,120),res(time,480)]) resources(explore(red1),[res(drill,1),res(memory,170),res(time,825)]) spectral_profile(target) memory_count(170) drill_count(1) active(measures(target)) completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(target) time_count(765) active(exp(target)) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) active(survey(canyon)) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) active(explore(red1)) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) Goals: measures(target): active [] || explore(red1): active [surveytest(canyon)::[ask(measured(target))]] || survey(canyon): active [exptest(target)::[ask(measured(target))]] || exp(target): active [measurestest(target)::[ask(spectral_profile(target))]] || ----------------------------------------------------- 38: Next events are [] Goal measures(target) drop: active -> dropped Goal explore(red1) drop: active -> dropped Goal survey(canyon) drop: active -> dropped Goal exp(target) drop: active -> dropped Completeness report: No more goals to execute for the agent in this state Beliefs: completed(exp(target)) completed(survey(canyon)) completed(explore(red1)) completed(measures(target)) resources(measures(target),[res(drill,1),res(memory,20),res(time,60)]) resources(exp(target),[res(drill,1),res(memory,20),res(time,180)]) resources(survey(canyon),[res(drill,1),res(memory,120),res(time,480)]) resources(explore(red1),[res(drill,1),res(memory,170),res(time,825)]) spectral_profile(target) memory_count(170) drill_count(1) completed(position(target)) resources(position(target),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(target) time_count(765) spectral(target) completed(id_targets(canyon)) resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300)]) targetlist(canyon) completed(traverse(rock1,canyon)) resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200)]) at(canyon) completed(exp(rock1)) completed(measuret(rock1)) resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25)]) resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145)]) thermal_profile(rock1) completed(position(rock1)) resources(position(rock1),[res(drill,0),res(memory,0),res(time,120)]) arm_positioned(rock1) thermal(rock1) resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0)]) resources(measuret(target),[res(drill,0),res(memory,0),res(time,0)]) at(red1) Goals: