From 1f6417458ac1e5799ef2cbfb231d6d6bd1a0ffc9 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Tue, 12 May 2020 11:34:44 -0400
Subject: [PATCH 01/34] Resolving merge conflicts

---
 java/build.xml                     | 4 ++--
 test-agents/kitchen/kitchen.config | 1 -
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/java/build.xml b/java/build.xml
index a10ddb4348..53c963d9ae 100644
--- a/java/build.xml
+++ b/java/build.xml
@@ -37,8 +37,8 @@
        destdir="bin"
        compiler="extJavac"
        deprecation="yes"
-       source="1.5"
-       target="1.5"
+       source="1.8"
+       target="1.8"
        >
     </javac>
   </target>
diff --git a/test-agents/kitchen/kitchen.config b/test-agents/kitchen/kitchen.config
index dc8141f352..1134dedfed 100644
--- a/test-agents/kitchen/kitchen.config
+++ b/test-agents/kitchen/kitchen.config
@@ -31,7 +31,6 @@ domain = magicbot
 
 #simulate-perception = true
 
-
 ####
 # internal-world-file = <filename>
 #   OPTIONAL: default is none

From 5562efd8409b105301dfb747ee3cce337f0e465d Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Wed, 21 Apr 2021 09:14:07 -0400
Subject: [PATCH 02/34] Updated java target in build.xml to 1.6

---
 java/build.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/java/build.xml b/java/build.xml
index a10ddb4348..3aeb9ba28e 100644
--- a/java/build.xml
+++ b/java/build.xml
@@ -37,8 +37,8 @@
        destdir="bin"
        compiler="extJavac"
        deprecation="yes"
-       source="1.5"
-       target="1.5"
+       source="1.6"
+       target="1.6"
        >
     </javac>
   </target>

From 07b55ba2bc6fcfa7cb954963a766fabcbc929696 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Wed, 21 Apr 2021 09:20:30 -0400
Subject: [PATCH 03/34] Moving evaluations to an examples folder

---
 .gitignore                                    |     3 +
 examples/README.md                            |    63 +
 .../finding-objects}/Makefile                 |    11 +-
 .../finding-objects}/agent.config             |     4 +-
 .../finding-objects}/correct-output.txt       |     0
 .../finding-objects}/extra-smem-adds.soar     |     0
 .../finding-objects}/extra-soar-rules.soar    |     0
 .../finding-objects/run_agent.py              |    53 +-
 .../finding-objects}/script.txt               |     0
 .../finding-objects}/smem-config.txt          |     0
 .../finding-objects}/world.info               |     0
 .../interior-guard/Makefile                   |     0
 .../interior-guard/README                     |     0
 .../interior-guard/__main__.py                |     0
 .../interior-guard/agent.config               |     0
 examples/interior-guard/debug.txt             |    63 +
 .../interior-guard/extra-smem-adds.soar       |     0
 .../interior-guard/extra-soar-rules.soar      |     0
 .../interior-guard/fetch-chunks.soar          |     0
 examples/interior-guard/final-chunks.txt      | 14698 ++++++++++++++++
 .../interior-guard/full-training-chunks.soar  | 14348 +++++++++++++++
 .../interior-guard/p20201202_084229_573.png   |   Bin 0 -> 22886 bytes
 .../interior-guard/script.txt                 |     0
 .../interior-guard/smem-config.txt            |     0
 examples/interior-guard/testing.txt           |    70 +
 examples/interior-guard/training-tcns.txt     |   334 +
 .../interior-guard/world.info                 |     0
 .../evaluation => examples}/serve/Makefile    |     0
 .../evaluation => examples}/serve/README      |     0
 .../evaluation => examples}/serve/__main__.py |     0
 .../serve/agent.config                        |     0
 .../serve}/extra-smem-adds.soar               |     0
 .../serve/extra-soar-rules.soar               |     0
 .../evaluation => examples}/serve/script.txt  |     0
 .../serve}/smem-config.txt                    |     0
 .../evaluation => examples}/serve/world.info  |     0
 .../fill => examples/template}/Makefile       |    11 +-
 examples/template/README.md                   |    60 +
 .../template}/agent.config                    |     8 +-
 .../template}/extra-smem-adds.soar            |     0
 .../template}/extra-soar-rules.soar           |     0
 .../template/run_agent.py                     |    34 +-
 .../template}/script.txt                      |     0
 .../template}/smem-config.txt                 |     0
 .../template/test-script.txt                  |     0
 .../template}/world.info                      |     0
 .../blending1 => examples/tourguide}/Makefile |    10 +-
 .../tourguide}/agent.config                   |     4 +-
 .../tourguide}/correct-output.txt             |     0
 .../tourguide}/extra-smem-adds.soar           |     0
 .../tourguide}/extra-soar-rules.soar          |    16 +-
 .../tourguide/run_agent.py                    |    34 +-
 examples/tourguide/script.txt                 |    77 +
 .../tourguide}/smem-config.txt                |     0
 examples/tourguide/test-script.txt            |    66 +
 .../tourguide}/world.info                     |    15 +-
 .../watercooler}/Makefile                     |    11 +-
 .../watercooler}/agent.config                 |     5 +-
 .../watercooler}/correct-output.txt           |     0
 .../watercooler}/extra-smem-adds.soar         |     0
 .../watercooler}/extra-soar-rules.soar        |     1 +
 examples/watercooler/run_agent.py             |    43 +
 .../watercooler/script.txt                    |     0
 .../watercooler}/smem-config.txt              |     0
 .../watercooler}/world.info                   |     0
 python/rosie/evaluation/.gitignore            |     7 -
 python/rosie/evaluation/blending1/README      |    24 -
 .../rosie/evaluation/blending1/agent.config   |   141 -
 .../evaluation/blending1/correct-output.txt   |    46 -
 python/rosie/evaluation/blending1/script.txt  |    16 -
 python/rosie/evaluation/blending1/world.info  |    26 -
 python/rosie/evaluation/blending2/Makefile    |    61 -
 python/rosie/evaluation/blending2/README      |    34 -
 python/rosie/evaluation/blending2/__main__.py |    68 -
 .../rosie/evaluation/blending2/agent.config   |   144 -
 .../blending2/variations/var1-rules.soar      |    24 -
 .../blending2/variations/var1-script.txt      |    55 -
 .../blending2/variations/var2-rules.soar      |     5 -
 .../blending2/variations/var3-rules.soar      |    14 -
 .../blending2/variations/var3-script.txt      |    67 -
 python/rosie/evaluation/blending3/Makefile    |    59 -
 python/rosie/evaluation/blending3/README      |    32 -
 python/rosie/evaluation/blending3/__main__.py |    42 -
 python/rosie/evaluation/find-test/Makefile    |    59 -
 python/rosie/evaluation/find-test/README      |    23 -
 .../interior-guard/interior-guard.world       |  1451 --
 python/rosie/evaluation/modifiers/README      |    23 -
 .../rosie/evaluation/modifiers/agent.config   |   131 -
 .../modifiers/extra-soar-rules.soar           |   145 -
 .../evaluation/modifiers/fill/.gitignore      |    10 -
 python/rosie/evaluation/modifiers/fill/README |    26 -
 .../modifiers/fill/correct-output.txt         |   150 -
 .../modifiers/fill/extra-smem-adds.soar       |    41 -
 .../modifiers/fill/extra-soar-rules.soar      |   142 -
 .../evaluation/modifiers/fill/run_rosie.py    |    37 -
 .../evaluation/modifiers/fill/script.txt      |    56 -
 .../evaluation/modifiers/fill/smem-config.txt |     0
 .../evaluation/modifiers/fill/world.info      |    36 -
 python/rosie/evaluation/modifiers/script.txt  |    65 -
 .../rosie/evaluation/move-variations/README   |    33 -
 .../evaluation/move-variations/__main__.py    |    42 -
 .../move-variations/correct-output.txt        |   676 -
 .../move-variations/extra-smem-adds.soar      |    92 -
 .../move-variations/extra-soar-rules.soar     |   221 -
 .../evaluation/move-variations/script.txt     |   137 -
 .../move-variations/smem-config.txt           |     2 -
 .../evaluation/move-variations/world.info     |    33 -
 python/rosie/evaluation/rand-move/Makefile    |    56 -
 python/rosie/evaluation/rand-move/README      |    29 -
 python/rosie/evaluation/rand-move/__main__.py |    35 -
 .../rosie/evaluation/rand-move/agent.config   |   136 -
 .../evaluation/rand-move/extra-smem-adds.soar |    15 -
 .../rand-move/extra-soar-rules.soar           |   150 -
 .../evaluation/rand-move/generate_script.py   |    52 -
 .../rand-move/lesioned-agent-rules.soar       |   419 -
 .../evaluation/rand-move/rand-move.script     |   223 -
 .../evaluation/rand-move/smem-config.txt      |    34 -
 .../rosie/evaluation/rand-move/testing.script |     8 -
 python/rosie/evaluation/rand-move/world.info  |    29 -
 .../evaluation/serve/extra-smem-adds.soar     |    92 -
 python/rosie/evaluation/serve/smem-config.txt |    26 -
 source-rosie-env.sh                           |     9 +-
 tools/scripts/custom_completions.sh           |     8 +-
 tools/scripts/run_rosie_example.sh            |     5 +
 124 files changed, 29950 insertions(+), 5914 deletions(-)
 create mode 100644 examples/README.md
 rename {python/rosie/evaluation/move-variations => examples/finding-objects}/Makefile (85%)
 rename {python/rosie/evaluation/find-test => examples/finding-objects}/agent.config (98%)
 rename {python/rosie/evaluation/find-test => examples/finding-objects}/correct-output.txt (100%)
 rename {python/rosie/evaluation/find-test => examples/finding-objects}/extra-smem-adds.soar (100%)
 rename {python/rosie/evaluation/find-test => examples/finding-objects}/extra-soar-rules.soar (100%)
 rename python/rosie/evaluation/find-test/__main__.py => examples/finding-objects/run_agent.py (63%)
 rename {python/rosie/evaluation/find-test => examples/finding-objects}/script.txt (100%)
 rename {python/rosie/evaluation/blending1 => examples/finding-objects}/smem-config.txt (100%)
 rename {python/rosie/evaluation/find-test => examples/finding-objects}/world.info (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/Makefile (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/README (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/__main__.py (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/agent.config (100%)
 create mode 100644 examples/interior-guard/debug.txt
 rename {python/rosie/evaluation => examples}/interior-guard/extra-smem-adds.soar (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/extra-soar-rules.soar (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/fetch-chunks.soar (100%)
 create mode 100644 examples/interior-guard/final-chunks.txt
 create mode 100644 examples/interior-guard/full-training-chunks.soar
 create mode 100644 examples/interior-guard/p20201202_084229_573.png
 rename {python/rosie/evaluation => examples}/interior-guard/script.txt (100%)
 rename {python/rosie/evaluation => examples}/interior-guard/smem-config.txt (100%)
 create mode 100644 examples/interior-guard/testing.txt
 create mode 100644 examples/interior-guard/training-tcns.txt
 rename {python/rosie/evaluation => examples}/interior-guard/world.info (100%)
 rename {python/rosie/evaluation => examples}/serve/Makefile (100%)
 rename {python/rosie/evaluation => examples}/serve/README (100%)
 rename {python/rosie/evaluation => examples}/serve/__main__.py (100%)
 rename {python/rosie/evaluation => examples}/serve/agent.config (100%)
 rename {python/rosie/evaluation/blending1 => examples/serve}/extra-smem-adds.soar (100%)
 rename {python/rosie/evaluation => examples}/serve/extra-soar-rules.soar (100%)
 rename {python/rosie/evaluation => examples}/serve/script.txt (100%)
 rename {python/rosie/evaluation/find-test => examples/serve}/smem-config.txt (100%)
 rename {python/rosie/evaluation => examples}/serve/world.info (100%)
 rename {python/rosie/evaluation/modifiers/fill => examples/template}/Makefile (85%)
 create mode 100644 examples/template/README.md
 rename {python/rosie/evaluation/move-variations => examples/template}/agent.config (97%)
 rename {python/rosie/evaluation/blending3 => examples/template}/extra-smem-adds.soar (100%)
 rename {python/rosie/evaluation/blending3 => examples/template}/extra-soar-rules.soar (100%)
 rename python/rosie/evaluation/modifiers/__main__.py => examples/template/run_agent.py (55%)
 rename {python/rosie/evaluation/blending3 => examples/template}/script.txt (100%)
 rename {python/rosie/evaluation/blending3 => examples/template}/smem-config.txt (100%)
 rename python/rosie/evaluation/blending3/script_internal.txt => examples/template/test-script.txt (100%)
 rename {python/rosie/evaluation/blending3 => examples/template}/world.info (100%)
 rename {python/rosie/evaluation/blending1 => examples/tourguide}/Makefile (85%)
 rename {python/rosie/evaluation/blending3 => examples/tourguide}/agent.config (98%)
 rename {python/rosie/evaluation/blending3 => examples/tourguide}/correct-output.txt (100%)
 rename {python/rosie/evaluation/modifiers => examples/tourguide}/extra-smem-adds.soar (100%)
 rename {python/rosie/evaluation/blending1 => examples/tourguide}/extra-soar-rules.soar (83%)
 rename python/rosie/evaluation/blending1/__main__.py => examples/tourguide/run_agent.py (55%)
 create mode 100644 examples/tourguide/script.txt
 rename {python/rosie/evaluation/modifiers => examples/tourguide}/smem-config.txt (100%)
 create mode 100644 examples/tourguide/test-script.txt
 rename {python/rosie/evaluation/modifiers => examples/tourguide}/world.info (88%)
 rename {python/rosie/evaluation/modifiers => examples/watercooler}/Makefile (83%)
 rename {python/rosie/evaluation/modifiers/fill => examples/watercooler}/agent.config (98%)
 rename {python/rosie/evaluation/blending2 => examples/watercooler}/correct-output.txt (100%)
 rename {python/rosie/evaluation/blending2 => examples/watercooler}/extra-smem-adds.soar (100%)
 rename {python/rosie/evaluation/blending2 => examples/watercooler}/extra-soar-rules.soar (99%)
 create mode 100644 examples/watercooler/run_agent.py
 rename python/rosie/evaluation/blending2/variations/var2-script.txt => examples/watercooler/script.txt (100%)
 rename {python/rosie/evaluation/blending2 => examples/watercooler}/smem-config.txt (100%)
 rename {python/rosie/evaluation/blending2 => examples/watercooler}/world.info (100%)
 delete mode 100644 python/rosie/evaluation/.gitignore
 delete mode 100644 python/rosie/evaluation/blending1/README
 delete mode 100644 python/rosie/evaluation/blending1/agent.config
 delete mode 100644 python/rosie/evaluation/blending1/correct-output.txt
 delete mode 100644 python/rosie/evaluation/blending1/script.txt
 delete mode 100644 python/rosie/evaluation/blending1/world.info
 delete mode 100644 python/rosie/evaluation/blending2/Makefile
 delete mode 100644 python/rosie/evaluation/blending2/README
 delete mode 100644 python/rosie/evaluation/blending2/__main__.py
 delete mode 100644 python/rosie/evaluation/blending2/agent.config
 delete mode 100644 python/rosie/evaluation/blending2/variations/var1-rules.soar
 delete mode 100644 python/rosie/evaluation/blending2/variations/var1-script.txt
 delete mode 100644 python/rosie/evaluation/blending2/variations/var2-rules.soar
 delete mode 100644 python/rosie/evaluation/blending2/variations/var3-rules.soar
 delete mode 100644 python/rosie/evaluation/blending2/variations/var3-script.txt
 delete mode 100644 python/rosie/evaluation/blending3/Makefile
 delete mode 100644 python/rosie/evaluation/blending3/README
 delete mode 100644 python/rosie/evaluation/blending3/__main__.py
 delete mode 100644 python/rosie/evaluation/find-test/Makefile
 delete mode 100644 python/rosie/evaluation/find-test/README
 delete mode 100644 python/rosie/evaluation/interior-guard/interior-guard.world
 delete mode 100644 python/rosie/evaluation/modifiers/README
 delete mode 100644 python/rosie/evaluation/modifiers/agent.config
 delete mode 100644 python/rosie/evaluation/modifiers/extra-soar-rules.soar
 delete mode 100644 python/rosie/evaluation/modifiers/fill/.gitignore
 delete mode 100644 python/rosie/evaluation/modifiers/fill/README
 delete mode 100644 python/rosie/evaluation/modifiers/fill/correct-output.txt
 delete mode 100644 python/rosie/evaluation/modifiers/fill/extra-smem-adds.soar
 delete mode 100644 python/rosie/evaluation/modifiers/fill/extra-soar-rules.soar
 delete mode 100644 python/rosie/evaluation/modifiers/fill/run_rosie.py
 delete mode 100644 python/rosie/evaluation/modifiers/fill/script.txt
 delete mode 100644 python/rosie/evaluation/modifiers/fill/smem-config.txt
 delete mode 100644 python/rosie/evaluation/modifiers/fill/world.info
 delete mode 100644 python/rosie/evaluation/modifiers/script.txt
 delete mode 100644 python/rosie/evaluation/move-variations/README
 delete mode 100644 python/rosie/evaluation/move-variations/__main__.py
 delete mode 100644 python/rosie/evaluation/move-variations/correct-output.txt
 delete mode 100644 python/rosie/evaluation/move-variations/extra-smem-adds.soar
 delete mode 100644 python/rosie/evaluation/move-variations/extra-soar-rules.soar
 delete mode 100644 python/rosie/evaluation/move-variations/script.txt
 delete mode 100644 python/rosie/evaluation/move-variations/smem-config.txt
 delete mode 100644 python/rosie/evaluation/move-variations/world.info
 delete mode 100644 python/rosie/evaluation/rand-move/Makefile
 delete mode 100644 python/rosie/evaluation/rand-move/README
 delete mode 100644 python/rosie/evaluation/rand-move/__main__.py
 delete mode 100644 python/rosie/evaluation/rand-move/agent.config
 delete mode 100644 python/rosie/evaluation/rand-move/extra-smem-adds.soar
 delete mode 100644 python/rosie/evaluation/rand-move/extra-soar-rules.soar
 delete mode 100644 python/rosie/evaluation/rand-move/generate_script.py
 delete mode 100644 python/rosie/evaluation/rand-move/lesioned-agent-rules.soar
 delete mode 100644 python/rosie/evaluation/rand-move/rand-move.script
 delete mode 100644 python/rosie/evaluation/rand-move/smem-config.txt
 delete mode 100644 python/rosie/evaluation/rand-move/testing.script
 delete mode 100644 python/rosie/evaluation/rand-move/world.info
 delete mode 100644 python/rosie/evaluation/serve/extra-smem-adds.soar
 delete mode 100644 python/rosie/evaluation/serve/smem-config.txt
 create mode 100755 tools/scripts/run_rosie_example.sh

diff --git a/.gitignore b/.gitignore
index 393368bed0..69f6d52492 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,6 +22,9 @@ agent/game-scripts/*.txt
 scripts/game-scripting/*
 scripts/*.script
 
+examples/*/agent
+examples/*/output
+examples/*/test-output.txt
 
 agent/language-comprehension/comprehension/test-sentences/*.soar
 agent/language-comprehension/comprehension/test-sentences/*.script
diff --git a/examples/README.md b/examples/README.md
new file mode 100644
index 0000000000..9b81be5aa8
--- /dev/null
+++ b/examples/README.md
@@ -0,0 +1,63 @@
+# Rosie Examples
+
+In this directory are several example Rosie agents that can run out of the box with a pre-loaded script.
+They have been developed within a linux environment and have not been tested on other operating systems. 
+
+**Requirements:**    
+* Soar built with python3 SML library
+* pysoarlib (https://github.com/amininger/pysoarlib) 
+* MobileSim java simulator
+* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
+* Both pysoarlib and rosie/python/rosie are on the $PYTHONPATH
+
+If the `source-rosie-env.sh` file has been sourced, then you can run these examples through the command:
+```
+$ run_rosie_example finding-objects
+```
+
+Each example also has a Makefile, so in the directory you can also run the example through `make run_example`
+
+
+## finding-objects
+
+This example shows different ways that the robot finds objects in a multi-room environment. 
+
+```
+$ run_rosie_example finding-objects
+```
+
+You can also run an internal test without needing the simulator through:
+```
+rosie/examples/finding-objects$ make run_test
+```
+
+## tourguide
+
+This example involves teaching the agent to give a tour of the office, including
+serving a drink and then leading the person to the lab and telling them about it. 
+It also has the agent repeat the task as a test with no further instructions. 
+
+```
+$ run_rosie_example tourguide
+```
+
+## watercooler
+
+This example involves teaching Rosie to fill a cup with water using a watercooler, 
+where it does not have a pre-existing model of the button. 
+It shows how the agent can utilize procedural steps (pressing the button)
+within a goal-based task (the goal is that the cup contains water). 
+
+Note: the agent may pause for some time while searching for the next action to take. 
+
+```
+$ run_rosie_example watercooler
+```
+
+You can also run an internal test without needing the simulator through:
+```
+rosie/examples/watercooler$ make run_test
+```
+
+
+
diff --git a/python/rosie/evaluation/move-variations/Makefile b/examples/finding-objects/Makefile
similarity index 85%
rename from python/rosie/evaluation/move-variations/Makefile
rename to examples/finding-objects/Makefile
index 6f18c0ef16..a55fc43b1b 100644
--- a/python/rosie/evaluation/move-variations/Makefile
+++ b/examples/finding-objects/Makefile
@@ -1,4 +1,4 @@
-AGENT_NAME=move-variations
+AGENT_NAME=finding-objects
 
 ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
 
@@ -6,7 +6,7 @@ all: world ${ROSIE_CONFIG}
 
 
 # Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
+run_example: run_mobile_sim run_rosie
 
 run_mobile_sim: ${AGENT_NAME}.world
 	mkdir -p output
@@ -14,16 +14,16 @@ run_mobile_sim: ${AGENT_NAME}.world
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
+	python3 run_agent.py > output/rosie_output.txt &
 
 run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
+	python3 -m run_agent.py --test
 	echo "########### DIFF ##########"
 	diff output/test-output.txt correct-output.txt
 
 
-# agent/rosie.move-variations.config: Configures the rosie soar agent that will be sourced to run
+# agent/rosie.finding-objects.config: Configures the rosie soar agent that will be sourced to run
 ${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
 	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
 
@@ -56,3 +56,4 @@ clean:
 	rm -f internal-world.soar
 
 
+
diff --git a/python/rosie/evaluation/find-test/agent.config b/examples/finding-objects/agent.config
similarity index 98%
rename from python/rosie/evaluation/find-test/agent.config
rename to examples/finding-objects/agent.config
index 897f46f0aa..7e6ff0984a 100644
--- a/python/rosie/evaluation/find-test/agent.config
+++ b/examples/finding-objects/agent.config
@@ -3,7 +3,7 @@
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
 
-agent-name = find-test
+agent-name = finding-objects
 
 
 ####
@@ -125,7 +125,7 @@ custom-smem-file = extra-smem-adds.soar
 spawn-debugger = false
 
 enable-log = true
-log-filename = output/find-test.log
+log-filename = output/finding-objects.log
 
 watch-level = 1
 
diff --git a/python/rosie/evaluation/find-test/correct-output.txt b/examples/finding-objects/correct-output.txt
similarity index 100%
rename from python/rosie/evaluation/find-test/correct-output.txt
rename to examples/finding-objects/correct-output.txt
diff --git a/python/rosie/evaluation/find-test/extra-smem-adds.soar b/examples/finding-objects/extra-smem-adds.soar
similarity index 100%
rename from python/rosie/evaluation/find-test/extra-smem-adds.soar
rename to examples/finding-objects/extra-smem-adds.soar
diff --git a/python/rosie/evaluation/find-test/extra-soar-rules.soar b/examples/finding-objects/extra-soar-rules.soar
similarity index 100%
rename from python/rosie/evaluation/find-test/extra-soar-rules.soar
rename to examples/finding-objects/extra-soar-rules.soar
diff --git a/python/rosie/evaluation/find-test/__main__.py b/examples/finding-objects/run_agent.py
similarity index 63%
rename from python/rosie/evaluation/find-test/__main__.py
rename to examples/finding-objects/run_agent.py
index 3fef8d5224..2e11d4fb94 100644
--- a/python/rosie/evaluation/find-test/__main__.py
+++ b/examples/finding-objects/run_agent.py
@@ -9,8 +9,24 @@
 from rosie.testing import TestAgent
 from mobilesim.rosie import MobileSimAgent
 
+def main():
+    # Lookup $ROSIE_HOME
+    if "ROSIE_HOME" in os.environ:
+        rosie_home = os.environ["ROSIE_HOME"]
+    else:
+        print("ERROR: Requires ROSIE_HOME environment variable set")
+        return
 
-class FindTestConnector(AgentConnector):
+    AGENT_NAME = "finding-objects"
+    agent_dir = rosie_home + "/examples/" + AGENT_NAME
+    rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
+
+    if "--test" in sys.argv:
+        run_test(rosie_config)
+    else:
+        launch_gui(rosie_config)
+
+class FindObjConnector(AgentConnector):
     def __init__(self, agent, rosie_gui):
         AgentConnector.__init__(self, agent)
         self.add_output_command("find-result")
@@ -25,33 +41,16 @@ def on_output_event(self, command_name, root_id):
 
 def launch_gui(rosie_config):
     root = Tk()
-    eval_agent = MobileSimAgent(rosie_config)
-    eval_gui = RosieGUI(eval_agent, master=root)
-    eval_agent.add_connector("find_test", FindTestConnector(eval_agent, eval_gui))
-    eval_gui.run()
+    rosie_agent = MobileSimAgent(rosie_config)
+    rosie_gui = RosieGUI(rosie_agent, master=root)
+    rosie_agent.add_connector("find_test", FindObjConnector(rosie_agent, rosie_gui))
+    rosie_gui.run()
 
 def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
+    rosie_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
             task_test_output_filename='output/test-output.txt', watch_level=0)
-    eval_agent.add_agent_param("print-perception", "false")
-    eval_agent.add_agent_param("print-parsed-messages", "false")
-    eval_agent.run_test('correct-output.txt')
-
-def main():
-    # Lookup $ROSIE_HOME
-    if "ROSIE_HOME" in os.environ:
-        rosie_home = os.environ["ROSIE_HOME"]
-    else:
-        print("ERROR: Requires ROSIE_HOME environment variable set")
-        return
-
-    AGENT_NAME = "find-test"
-    rosie_config = rosie_home + "/python/rosie/evaluation/" + AGENT_NAME + "/agent/rosie." + AGENT_NAME + ".config"
-
-    if "--test" in sys.argv:
-        run_test(rosie_config)
-    else:
-        launch_gui(rosie_config)
+    rosie_agent.add_agent_param("print-perception", "false")
+    rosie_agent.add_agent_param("print-parsed-messages", "false")
+    rosie_agent.run_test('correct-output.txt')
 
-if __name__ == "__main__":
-    main()
+main()
diff --git a/python/rosie/evaluation/find-test/script.txt b/examples/finding-objects/script.txt
similarity index 100%
rename from python/rosie/evaluation/find-test/script.txt
rename to examples/finding-objects/script.txt
diff --git a/python/rosie/evaluation/blending1/smem-config.txt b/examples/finding-objects/smem-config.txt
similarity index 100%
rename from python/rosie/evaluation/blending1/smem-config.txt
rename to examples/finding-objects/smem-config.txt
diff --git a/python/rosie/evaluation/find-test/world.info b/examples/finding-objects/world.info
similarity index 100%
rename from python/rosie/evaluation/find-test/world.info
rename to examples/finding-objects/world.info
diff --git a/python/rosie/evaluation/interior-guard/Makefile b/examples/interior-guard/Makefile
similarity index 100%
rename from python/rosie/evaluation/interior-guard/Makefile
rename to examples/interior-guard/Makefile
diff --git a/python/rosie/evaluation/interior-guard/README b/examples/interior-guard/README
similarity index 100%
rename from python/rosie/evaluation/interior-guard/README
rename to examples/interior-guard/README
diff --git a/python/rosie/evaluation/interior-guard/__main__.py b/examples/interior-guard/__main__.py
similarity index 100%
rename from python/rosie/evaluation/interior-guard/__main__.py
rename to examples/interior-guard/__main__.py
diff --git a/python/rosie/evaluation/interior-guard/agent.config b/examples/interior-guard/agent.config
similarity index 100%
rename from python/rosie/evaluation/interior-guard/agent.config
rename to examples/interior-guard/agent.config
diff --git a/examples/interior-guard/debug.txt b/examples/interior-guard/debug.txt
new file mode 100644
index 0000000000..63be8063f1
--- /dev/null
+++ b/examples/interior-guard/debug.txt
@@ -0,0 +1,63 @@
+Guard the barracks.
+Officer Williams. 
+
+### Inspect Messhall #1
+# Move plate onto the table
+#!CMD place 30 on1 24 .
+# Remove the ketchup
+!CMD teleport 31 19.00 4.00 0.20 wp09 .
+!CMD SKIP .
+
+
+### Inspect Eastern Sentry Post #1
+# Remove the sentry
+#!CMD teleport 20 21.00 3.00 0.90 wp09 .
+!CMD SKIP .
+# Ignore the ensure reporting messages
+!CMD SKIP .
+!CMD SKIP .
+!CMD SKIP .
+
+
+### Inspect Motorpool #1
+# Move a fire to the motorpool
+#!CMD teleport 49 7.00 1.00 0.50 wp08 .
+!CMD SKIP
+# Move the CO to the messhall
+#!CMD teleport 19 13.00 8.00 0.90 wp04 .
+!CMD SKIP .
+# Dont help find the CO
+Unknown.
+# Ignore fire messages - remove fire from motorpool
+!CMD SKIP .
+#!CMD teleport 49 20.00 4.00 0.50 wp09 .
+!CMD SKIP .
+
+
+### Inspect Messhall #2
+# Remove ketchup, add mustard onto table
+#!CMD teleport 31 19.00 4.00 0.20 wp09 .
+#!CMD teleport 32 11.50 10.00 0.80 wp04 .
+#!CMD place 32 on1 24 .
+!CMD SKIP .
+
+
+### Inspect Eastern Sentry Post #2
+# Put the sentry back, remove the extinguisher
+#!CMD teleport 20 29.00 12.50 0.90 wp09 .
+#!CMD teleport 36 24.00 8.00 0.20 wp07 .
+!CMD SKIP .
+
+
+### Inspect Motorpool #2
+# Remove the dispatcher
+#!CMD teleport 37 21.00 3.00 0.90 wp09 .
+# Move Williams to the CO's office
+#!CMD teleport 15 8.00 17.00 0.90 wp01 .
+!CMD teleport 50 3.34 11.50 0.90 wp02.
+!CMD SKIP .
+
+# Ignore the ensure reporting messages
+!CMD skip .
+!CMD skip .
+!CMD skip .
diff --git a/python/rosie/evaluation/interior-guard/extra-smem-adds.soar b/examples/interior-guard/extra-smem-adds.soar
similarity index 100%
rename from python/rosie/evaluation/interior-guard/extra-smem-adds.soar
rename to examples/interior-guard/extra-smem-adds.soar
diff --git a/python/rosie/evaluation/interior-guard/extra-soar-rules.soar b/examples/interior-guard/extra-soar-rules.soar
similarity index 100%
rename from python/rosie/evaluation/interior-guard/extra-soar-rules.soar
rename to examples/interior-guard/extra-soar-rules.soar
diff --git a/python/rosie/evaluation/interior-guard/fetch-chunks.soar b/examples/interior-guard/fetch-chunks.soar
similarity index 100%
rename from python/rosie/evaluation/interior-guard/fetch-chunks.soar
rename to examples/interior-guard/fetch-chunks.soar
diff --git a/examples/interior-guard/final-chunks.txt b/examples/interior-guard/final-chunks.txt
new file mode 100644
index 0000000000..3969abba0c
--- /dev/null
+++ b/examples/interior-guard/final-chunks.txt
@@ -0,0 +1,14698 @@
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1800240-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int119)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1436584-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*3*implicit*OpNoChange*t1041516-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal151 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal151 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2> ^implicit-object <i3>)
+    (<i1> ^default <d1>)
+    (<d1> ^category vehicle1)
+    (<i2> ^default <d2>)
+    (<d2> ^category dispatcher1)
+    (<i3> ^default <d3>)
+    (<d3> ^category sentry1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t941552-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle explore1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle explore1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t941541-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle explore1)
+    (<o1> ^next-goal-handle explore1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t941532-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle explore1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle explore1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t850765-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle explore1)
+    (<o1> ^next-goal-handle explore1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t850756-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle explore1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle explore1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t850742-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle explore1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle explore1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t652568-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> -^<a8> { <a9> <> <a7> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a10>)
+    (<a10> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t300795-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int152)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int120
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t300780-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal154)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t131665-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal125)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int120
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t124261-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal125)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal125)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t124222-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal125 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal125 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t124211-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal125
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t124188-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int153)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t119428-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal156 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal156 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t119417-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal154)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal156
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1660-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal154)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal154)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1645-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal154 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1634-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start155)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal154
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1621-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start155)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start155 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1570-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1repeat92)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal94
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> })
+    (<p2> ^<a10> <a11> -^<a14> { <a15> <> <a11> <> <a13> } ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a16> ^<a3> <a17> ^<a5> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+    (<a17> ^handle <h2> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a10> <a11> ^<a12> <a13>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> -^<a12> { <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15> ^<a5> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i1> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a14> <a15>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    (<a15> ^arg-type modifiers ^handle <h6> ^handle { <h7> < <h6> })
+   -{ (<t1> ^{ <a18> <> <a16> <> arg1 } <a19>)
+      (<a19> ^arg-type <a20>)}
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a14> <a15>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    (<a15> ^arg-type modifiers ^handle <h6> ^handle { <h7> < <h6> })
+   -{ (<t1> ^{ <a18> <> <a16> <> arg1 } <a19>)
+      (<a19> ^arg-type <a20>)}
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h1> <> <h2> }
+          ^handle <h2>)
+    (<a3> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h2>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h2>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask subtask8 -^performed-subtask <p1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4> ^<i2> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i5> ^1 <i4> ^handle <h1> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t330-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start2)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start2 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t565-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal4
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t576-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal4 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal4)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t607-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id { <i1> <> <c1> })
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a2> ^subtask-handle subtask3)
+    (<a2> ^2 <i1> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t718-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type coordinate ^coord <c2>)
+    (<c2> -^z <z1> ^y <y1> ^x <x1>)
+    -->
+    (<d1> ^<c1> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^coord <c4> ^arg-type coordinate)
+    (<c4> ^y <y1> ^x <x1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t739-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t16114-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t16123-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t16138-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1goal1)
+    (<t1> ^task-handle go-to-xy1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle goto-xy1goal1)
+    (<i1> ^command-name go-to-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t39402-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t39411-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t39421-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t250395-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> ^name copy-task-operator ^task-operator <t1> ^copy-name <c1>
+          ^destination <d1>)
+   -{ (<t1> ^<a1> <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t285591-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t285600-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t285610-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286045-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal4)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal6
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t286056-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286083-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal6)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal6)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286096-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask5)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286120-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286126-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286135-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286152-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1goal1)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-on1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle activated1
+           ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t286174-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t286174-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286213-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask14)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286237-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286250-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1goal2
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286259-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286276-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1goal2)
+    (<t1> ^task-handle view1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle view1goal2)
+    (<i2> ^1 <i1> ^property-handle is-visible1 ^handle visible1 ^type unary)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286300-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286315-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286324-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286339-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1goal1)
+    (<t1> ^task-handle face1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle face1goal1)
+    (<i1> ^command-name face-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299732-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299741-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299751-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299768-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299777-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299787-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t299809-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t299809-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t299848-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask15)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t326722-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340751-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340760-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t340770-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340800-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340800-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340800-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340800-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340800-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340815-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340815-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340815-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340815-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340815-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340844-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int7
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340853-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int7 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t340864-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int7 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t341537-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int7)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t341548-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal21 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal21 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 supply1 ^category room1)
+    (<i2> ^default <d2>)
+    (<d2> ^category extinguisher1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t341588-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal21)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal21)
+    (<i1> ^subtask-handle subtask19 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t341608-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category extinguisher1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 supply1 ^category room1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle fetch1 ^item-type task-operator ^name op_fetch12
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask19)
+    (<a1> ^2 <o3> ^handle from1 ^arg-type partial-predicate)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t341616-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t341663-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^2 <i4> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t343037-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a10> > arg2 } <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t343037-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a10> > arg2 } <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t518177-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t518177-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t518216-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask25)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t534012-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t534012-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t534012-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t534012-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t534012-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697053-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697053-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697053-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697053-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697053-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697069-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697069-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697069-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697069-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697069-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697088-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697088-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697088-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697088-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697088-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697099-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s3>
+          ^{ <a9> > arg2 } <a10> ^{ <a11> > arg2 } <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> < <h5> }
+          -^handle { <h7> <> <h5> <> <h6> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697099-2
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s3>
+          ^{ <a9> > arg2 } <a10> ^{ <a11> > arg2 } <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> < <h5> }
+          -^handle { <h7> <> <h5> <> <h6> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697099-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s2> ^{ <a5> > arg2 } <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697128-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal21)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697137-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int20 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697148-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int20 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697626-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category post1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal29
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t697637-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal29 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal29 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t697664-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal29)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal29)
+    (<i1> ^subtask-handle subtask28 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t697689-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask28)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t697696-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697725-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal29)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697734-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int30 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697745-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int30 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698195-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int34 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t698206-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int34)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int34 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t698383-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int34)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1term36
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698392-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1term36 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t698403-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1term36)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1term36 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t698429-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*tried-tied-operator*OpNoChange*t698444-1
+    :chunk
+    (state <s1> ^untried-tied-operator <u1> ^operator <u1> ^problem-space <p1>)
+    (<p1> ^execution-type internal ^name action)
+    (<u1> ^task-handle <t1>)
+    -->
+    (<s1> ^untried-tied-operator <u1> - ^tried-tied-operator <u1>)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*update*current-evaluation-depth*OpNoChange*t698444-2
+    :chunk
+    (state <s1> ^problem-space <p1> ^current-evaluation-depth <c1>
+          ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^current-evaluation-depth <c1> -
+           ^current-evaluation-depth (- <c1> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*increment*plan-length*OpNoChange*t698444-3
+    :chunk
+    (state <s1> ^problem-space <p1> ^plan-length <p2> ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^plan-length <p2> - ^plan-length (+ <p2> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*performed-subtask*OpNoChange*t698444-4
+    :chunk
+    (state <s1> ^operator <o1> ^problem-space <p1> ^current-task-segment <c1>)
+    (<o1> ^item-type task-operator ^subtask-handle <s2> ^task-handle <t1>)
+    (<p1> ^execution-type internal ^name action)
+    -->
+    (<c1> ^performed-subtask <s2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698444-5
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698444-6
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698444-7
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698444-8
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698444-9
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t698456-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+   -{ (<t2> ^{ <a6> <> <a4> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<c2> ^{ <a9> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    (<a12> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698460-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698460-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698460-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <o6>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o5> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698460-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <o6>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o5> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698460-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t698695-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1start39)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1start39 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699002-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1start39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal43
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t699013-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal43 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal43 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal43)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal43)
+    (<i1> ^subtask-handle subtask42 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t699070-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask42)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 emergency1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask42)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699353-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal43)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal47
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t699364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal47 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal47 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category hall1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699393-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal47)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal47)
+    (<i1> ^subtask-handle subtask46 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t699408-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^is-confirmed1 confirmed1 ^category hall1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask46)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t744643-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal47)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal50
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t744654-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal50 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal50 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category alarm1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t744683-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal50)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal50)
+    (<i1> ^subtask-handle subtask49 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t744696-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category alarm1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask49)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793866-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal50)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal56
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t793877-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal56 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal56 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t793915-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal56)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal56)
+    (<i1> ^subtask-handle subtask55 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t793935-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category officer1 ^name co1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg2 <a1>
+           ^arg1 <a2> ^subtask-handle subtask55)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+    (<a2> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t793943-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793973-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle say1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t793982-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t794000-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal2)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^arg1 <a2> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle say1goal2)
+    (<i3> ^2 <i1> ^1 <i2> ^handle heard2 ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t794013-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    (<o1> ^<i2> <i3>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^2 <i3> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i4> ^arg-type object)
+    (<i4> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t794019-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i3>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4>)
+    (<p1> ^<a1> <a2> ^<a3> { <a4> > <a2> } -^<a5> { <a6> <> <a4> <> <a2> })
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i5> ^pred-count 1)
+    (<i5> ^2 <i6> ^1 <i4> ^handle <h1> ^type relation)
+    (<i6> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a3> <a4> ^<a1> <a2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t794026-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t794026-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t794065-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask59)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t925585-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t925585-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t925624-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask62)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934259-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934297-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934297-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934297-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934297-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934297-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934311-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934311-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934311-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934311-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934311-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934549-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal56)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal64
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t934560-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal64 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal64 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934587-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal64)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal64)
+    (<i1> ^subtask-handle subtask63 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t934611-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask63)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t935474-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal64)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal67
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t935485-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal67 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal67 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t935512-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal67)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal67)
+    (<i1> ^subtask-handle subtask66 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t935534-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask66)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1150160-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal67)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1term69
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1150169-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1term69 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1150180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1term69)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1term69 ^item-type terminal-goal)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1150232-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a10> <a18>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a10> > <a1> } <a11>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a3> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a4> <a5> ^<a6> { <a7> > <a5> } -^<a8> { <a9> <> <a7> <> <a5> })
+    (<p1> ^<a4> <a5> ^<a6> <a7>)
+   -{ (<t2> ^{ <a12> <> <a10> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+   -{ (<c2> ^{ <a15> <> <a10> <> <a1> } <a16>)
+      (<a16> ^arg-type <a17>)}
+    (<a11> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a18> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1150235-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1150235-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1150235-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1150235-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1150235-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__WHENEVER__PROP__*problem-space*action*propose*whenever*task*OpNoChange*t1150630-1
+    :chunk
+    (state <s1> ^world <w1> -^child-task-segment <c1> ^problem-space <p1>
+          ^task-operator <t1> ^name <n1>)
+    (<p1> ^subproblem execute ^name action)
+    (<w1> ^objects <o1>)
+    (<t1> ^name <n1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-visible1 visible1 ^category fire1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^whenever-handle whenever72 ^task-handle raise1
+           ^item-type task-operator ^name op_raise138 ^arg1 <a1>)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^category fire-alarm1)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156601-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1start77)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1start77 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156775-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1start77)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal82
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1156786-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal82 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal82 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156811-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal82)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal82)
+    (<i1> ^subtask-handle subtask81 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1156829-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask81)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle ask1 ^item-type task-operator ^name op_ask1
+           ^modifiers <m1> ^arg1 <a1> ^subtask-handle subtask81)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t1156836-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156857-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156870-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1156879-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156894-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1goal1)
+    (<t1> ^task-handle ask1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ask1goal1)
+    (<i1> ^command-name ask-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158176-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1158185-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1158195-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158511-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal82)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal87
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1158522-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal87 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal87 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 relieving1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 answered1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1158560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal87)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal87)
+    (<i1> ^subtask-handle subtask86 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1158586-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask86)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 answered1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 relieving1 ^is-confirmed1 not-confirmed1
+          ^category officer1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask86)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1159009-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal87)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1159018-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1repeat92 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159033-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1repeat92)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1159291-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal94 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal94 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name messhall1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159320-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal94)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal94)
+    (<i1> ^subtask-handle subtask93 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1159344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask93)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303016-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal105)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal105)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303022-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal105)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int102
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303031-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int102 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1303042-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int102 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303057-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int102)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal101
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1303068-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal101 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal101 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303110-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal101)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal101)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1303130-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category plate1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category sink1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle move1 ^item-type task-operator ^name op_move198
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask99)
+    (<a1> ^2 <o3> ^handle in1 ^arg-type partial-predicate)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1303163-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1start108)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1start108 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303576-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1start108)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1goal109
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303585-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1goal109 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303604-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1goal109)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle <h1>)
+    (<a2> ^arg-type partial-predicate ^2 <i2>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle move1goal109)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303671-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303671-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303672-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303672-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1303711-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask111)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304626-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle in1)
+    (<a2> ^arg-type partial-predicate ^2 { <i2> <> <i1> })
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object <i2>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<i2> ^predicates <p3>)
+    (<p3> ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a4> ^arg1 <a5> ^subtask-handle subtask112)
+    (<a4> ^2 <i2> ^handle in1 ^arg-type partial-predicate)
+    (<a5> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1304674-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle put-down1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1304683-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1304701-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal2)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle <h1>)
+    (<a2> ^arg-type partial-predicate ^2 <i2>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle put-down1goal2)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1304723-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1304723-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304762-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask113)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305002-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305002-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1305041-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask114)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305711-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305742-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305742-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305742-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^2 <i5> ^1 <i6> ^handle <h1>)
+    (<i2> ^type relation ^1 <i3> ^2 <i4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i5>)
+    (<a10> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i5> ^object <i6> ^object <i4> ^object <i3>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305742-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^2 <i5> ^1 <i6> ^handle <h1>)
+    (<i2> ^type relation ^1 <i3> ^2 <i4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i5>)
+    (<a10> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i5> ^object <i6> ^object <i4> ^object <i3>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305742-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305757-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305757-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305757-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h5>
+          ^handle <h6>)
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h4>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h2>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305757-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h5>
+          ^handle <h6>)
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h4>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h2>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305757-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305790-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1goal109)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1term110
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305799-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1term110 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1305810-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1term110)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1term110 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305838-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305838-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305838-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i5> ^object <i3> ^object <i6> ^object <i4>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305838-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i5> ^object <i3> ^object <i6> ^object <i4>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305838-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305853-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305853-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305853-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg1 <a2>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305853-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg1 <a2>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305853-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305884-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal101)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int100
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305893-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int100 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1305904-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int100)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int100 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1306594-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int120 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1306616-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal118
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1306627-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal118 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal118 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category condiment1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1306656-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal118)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal118)
+    (<i1> ^subtask-handle subtask117 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1306680-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle store1 ^item-type task-operator ^name op_store1116
+           ^arg1 <a1> ^subtask-handle subtask117)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1306711-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1start127 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1307451-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1start127)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle store1goal129
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1307460-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1goal129 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> store1goal129 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category fridge1)
+    (<i2> ^default <d2>)
+    (<d2> ^category fridge1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1307508-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1goal129)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category fridge1)
+    (<o3> ^predicates <p2>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^2 <i2> ^1 <i3> ^pred-count 2 ^handle store1goal129)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+    (<i3> ^1 <o3> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1307520-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h3>)
+    (<i1> ^type relation ^handle <h2> ^2 <i3> ^1 <i5>)
+    (<i2> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i4>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i6> ^<i5> <i7> ^<i4> <i8>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h3> ^2 <i9> ^1 <i10> ^pred-count 2)
+    (<i9> ^2 <i6> ^1 <i7> ^handle <h2> ^type relation)
+    (<i10> ^1 <i8> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308081-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308081-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308083-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308083-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308107-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308107-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308108-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 not-open1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308108-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 not-open1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308147-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 not-open1 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle open1 ^item-type task-operator ^name op_open1
+           ^arg1 <a2> ^subtask-handle subtask132)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1308171-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1308177-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1308186-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1308203-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1goal1)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle open1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle open2 ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308225-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308225-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308264-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask133)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308601-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308601-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308640-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask134)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1309467-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1309476-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1309486-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309516-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309516-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309516-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309516-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309516-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309531-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309531-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309531-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309531-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309531-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1309605-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask135)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1311501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object { <o2> <> <i1> })
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<o2> ^predicates <p3>)
+    (<p3> ^affordance1 openable1 ^affordance1 receptacle1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a2> ^arg1 <a3> ^subtask-handle subtask136)
+    (<a2> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313339-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle close1 ^item-type task-operator ^name op_close1
+           ^arg1 <a2> ^subtask-handle subtask137)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1313363-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313376-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313385-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313402-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1goal1)
+    (<t1> ^task-handle close1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle close1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313537-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313546-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313556-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1goal129)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle store1term128
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1term128 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313593-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1term128)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1term128 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313622-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1> ^instance <i9>)
+    (<i9> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h2> ^instance <i10> -^dont-copy <i10>)
+    (<i10> -^3 <i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313622-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1> ^instance <i9>)
+    (<i9> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h2> ^instance <i10> -^dont-copy <i10>)
+    (<i10> -^3 <i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313622-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i3> ^1 <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313637-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313637-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313637-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i7> ^object <i4> ^object <i8> ^object <i5>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+    (<a11> ^arg-type object ^id <i7>)
+   -{ (<t2> ^{ <a14> <> <a12> } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type object ^id <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313637-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i7> ^object <i4> ^object <i8> ^object <i5>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+    (<a11> ^arg-type object ^id <i7>)
+   -{ (<t2> ^{ <a14> <> <a12> } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type object ^id <i8>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313637-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313652-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313652-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313652-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313652-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313652-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313668-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313668-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313668-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313668-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313668-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_open1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313699-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal118)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313708-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int119 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1313719-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int119 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313916-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313937-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^contents1 empty1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal35
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1313948-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal35 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal35 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313975-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal35)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal35)
+    (<i1> ^subtask-handle subtask33 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313995-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-off1 ^item-type task-operator ^name op_turn-off1
+           ^arg1 <a2> ^subtask-handle subtask33)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1314019-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1314025-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1314034-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1314051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1goal1)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-off1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle not-activated1
+           ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314073-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314073-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314112-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask139)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314719-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314719-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314758-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask140)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1317740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1317750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317780-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317780-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317780-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317780-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317780-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317795-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317795-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317795-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317795-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317795-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317826-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal35)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318165-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal94)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal142
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1318176-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal142 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal142 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category post1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318207-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal142)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal142)
+    (<i1> ^subtask-handle subtask141 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1318231-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^category post1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask141)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1318255-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start123)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start123 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318268-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start123)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal122
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1318279-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal122 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318294-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal122)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int121 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1448045-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int121)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int121 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448080-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int120 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448093-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448162-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448404-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal142)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal146
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1448415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal146 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal146 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name motorpool1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1448444-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal146)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal146)
+    (<i1> ^subtask-handle subtask145 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1448468-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask145)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1618144-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal122)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal124
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1618155-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal124 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal124 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1618180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal124)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal124)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621127-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal124)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int121
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1621591-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal156)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal156)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621604-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal156)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621613-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int153 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1621624-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int153 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int153)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal151
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1621937-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask158)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1622254-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category dispatcher1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask160)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622504-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 lockable1 ^is-confirmed1 confirmed1 ^category vehicle1
+          ^<a2> not-locked1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle lock1 ^item-type task-operator ^name op_lock1
+           ^arg1 <a3> ^subtask-handle subtask162)
+    (<a3> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1622528-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1622534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1622543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1622560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1goal1)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle lock1goal1)
+    (<i2> ^1 <i1> ^property-handle is-locked1 ^handle locked1 ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1622582-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1622582-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622621-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask163)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1623746-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1623746-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1623785-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask164)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626571-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626580-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1626590-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626626-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626626-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626626-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626626-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626626-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626641-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626641-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626641-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626641-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626641-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1626835-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal151)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^3 <i1> ^2 <i2> ^1 <i3> ^pred-count 3 ^handle inspect1goal151)
+    (<i1> ^subtask-handle subtask162 ^type subtask)
+    (<i2> ^subtask-handle subtask160 ^type subtask)
+    (<i3> ^subtask-handle subtask158 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626848-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal151)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626857-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int152 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1626868-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int152 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1627128-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^3 <i4> ^2 <i5> ^1 <i6>
+           ^pred-count 3)
+    (<i4> ^subtask-handle <s4> ^type subtask)
+    (<i5> ^subtask-handle <s3> ^type subtask)
+    (<i6> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627129-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627129-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627129-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s6> ^subtask-handle <s7> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627129-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s6> ^subtask-handle <s7> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627129-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627147-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s6> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627147-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s6> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627147-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627147-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627147-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s3> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627163-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627163-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627163-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627163-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627163-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1633285-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal146)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal166
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1633296-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal166 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal166 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^possessive cos1 ^category office1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1633327-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal166)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal166)
+    (<i1> ^subtask-handle subtask165 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1633349-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^possessive cos1 ^is-confirmed1 confirmed1 ^category office1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask165)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754621-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal166)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1repeat92)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 confirmed1 ^category officer1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle guard1exit91
+           ^next-goal-type loop-exit ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754651-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1exit91 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1754666-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1exit91)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1exit91)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754843-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1exit91)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1term168
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754852-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1term168 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1754863-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1term168)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1term168 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t1754935-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1754940-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a10> <a18>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a10> > <a1> } <a11>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a3> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a4> <a5> ^<a6> { <a7> > <a5> } -^<a8> { <a9> <> <a7> <> <a5> })
+    (<p1> ^<a4> <a5> ^<a6> <a7>)
+   -{ (<t2> ^{ <a12> <> <a10> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+   -{ (<c2> ^{ <a15> <> <a10> <> <a1> } <a16>)
+      (<a16> ^arg-type <a17>)}
+    (<a11> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a18> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1754944-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<s2> ^name <n1>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1754944-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<s2> ^name <n1>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1754944-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type modifiers ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1754944-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type modifiers ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1754944-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
diff --git a/examples/interior-guard/full-training-chunks.soar b/examples/interior-guard/full-training-chunks.soar
new file mode 100644
index 0000000000..2f6f5e7082
--- /dev/null
+++ b/examples/interior-guard/full-training-chunks.soar
@@ -0,0 +1,14348 @@
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1754944-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1754944-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type modifiers ^handle <h5>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1754944-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type modifiers ^handle <h5>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1754944-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<s2> ^name <n2>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1754944-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<s2> ^name <n2>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1754940-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a12> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> })
+    (<p2> ^<a13> <a14> -^<a17> { <a18> <> <a14> <> <a16> } ^<a15> <a16>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t1754935-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1754863-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1term168)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1term168 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754852-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1term168 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754843-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1exit91)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1term168
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1754666-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1exit91)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1exit91)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754651-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1exit91 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 confirmed1 ^category officer1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle guard1exit91
+           ^next-goal-type loop-exit ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754621-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal166)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1633349-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^possessive cos1 ^is-confirmed1 confirmed1 ^category office1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask165)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1633327-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal166)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal166)
+    (<i1> ^subtask-handle subtask165 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1633296-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal166 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal166 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^possessive cos1 ^category office1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1633285-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal146)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal166
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627163-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627163-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s6>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627163-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s6>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627163-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627163-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627147-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s3> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627147-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s4>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s3> ^subtask-handle <s4> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627147-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s4>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s3> ^subtask-handle <s4> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627147-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s6> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627147-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s6> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627129-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627129-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s7>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627129-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s7>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627129-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627129-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1627128-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^3 <i4> ^2 <i5> ^1 <i6>
+           ^pred-count 3)
+    (<i4> ^subtask-handle <s4> ^type subtask)
+    (<i5> ^subtask-handle <s3> ^type subtask)
+    (<i6> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1626868-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int152 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626857-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int152 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626848-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal151)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1626835-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal151)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^3 <i1> ^2 <i2> ^1 <i3> ^pred-count 3 ^handle inspect1goal151)
+    (<i1> ^subtask-handle subtask162 ^type subtask)
+    (<i2> ^subtask-handle subtask160 ^type subtask)
+    (<i3> ^subtask-handle subtask158 ^type subtask)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626641-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626641-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626641-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626641-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626641-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626626-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626626-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626626-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626626-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626626-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1626590-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626580-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626571-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1623785-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask164)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1623746-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1623746-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622621-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask163)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1622582-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1622582-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1622560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1goal1)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle lock1goal1)
+    (<i2> ^1 <i1> ^property-handle is-locked1 ^handle locked1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1622543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1622534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1622528-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622504-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 lockable1 ^is-confirmed1 confirmed1 ^category vehicle1
+          ^<a2> not-locked1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle lock1 ^item-type task-operator ^name op_lock1
+           ^arg1 <a3> ^subtask-handle subtask162)
+    (<a3> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1622254-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category dispatcher1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask160)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1621937-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask158)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+#sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621651-1
+#    :chunk
+#    (state <s1> ^task-operator <t1> ^operator <o1>)
+#    (<t1> ^task-handle inspect1)
+#    (<o1> ^next-goal-handle inspect1goal151 ^name select-next-goal)
+#    -->
+#    (<s1> ^apply-select-next-goal true)
+#}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal151
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1621624-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int153 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621613-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int153 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621604-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal156)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1621591-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal156)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal156)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621127-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal124)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int121
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1618180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal124)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal124)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1618155-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal124 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal124 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1618144-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal124
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1448468-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask145)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1448444-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal146)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal146)
+    (<i1> ^subtask-handle subtask145 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1448415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal146 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal146 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name motorpool1 ^category room1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448404-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal142)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal146
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448162-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448093-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448080-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int120 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1448045-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int121)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int121 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int121 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318294-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal122)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1318279-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal122 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318268-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start123)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal122
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1318255-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start123)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start123 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1318231-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^category post1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask141)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318207-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal142)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal142)
+    (<i1> ^subtask-handle subtask141 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1318176-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal142 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal142 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category post1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318165-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal94)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal142
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317826-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal35)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317795-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317795-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317795-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317795-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317795-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317780-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317780-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317780-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317780-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317780-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1317750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1317740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314758-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask140)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314719-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314719-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314112-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask139)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314073-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314073-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1314051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1goal1)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-off1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle not-activated1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1314034-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1314025-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1314019-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313995-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-off1 ^item-type task-operator ^name op_turn-off1
+           ^arg1 <a2> ^subtask-handle subtask33)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313975-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal35)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal35)
+    (<i1> ^subtask-handle subtask33 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1313948-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal35 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal35 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313937-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^contents1 empty1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal35
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313916-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1313719-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int119 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313708-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int119 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313699-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal118)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313668-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_open1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313668-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313668-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313668-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313668-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313652-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313652-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313652-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313652-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313652-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313637-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313637-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s4> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i7> ^object <i5> ^object <i8>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+   -{ (<t1> ^{ <a12> <> <a10> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type object ^id <i7>)
+    (<a16> ^arg-type object ^id <i8>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313637-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s4> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i7> ^object <i5> ^object <i8>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+   -{ (<t1> ^{ <a12> <> <a10> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type object ^id <i7>)
+    (<a16> ^arg-type object ^id <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313637-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313637-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313622-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h1>)
+    (<i1> ^type relation ^2 <i3> ^handle <h2> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i3> ^1 <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313622-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i4> ^handle <h2> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h4> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h2> ^instance <i9> -^dont-copy <i9>)
+    (<i9> -^3 <i10> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h4> ^instance <i11>)
+    (<i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313622-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i4> ^handle <h2> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h4> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h2> ^instance <i9> -^dont-copy <i9>)
+    (<i9> -^3 <i10> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h4> ^instance <i11>)
+    (<i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313593-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1term128)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1term128 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1term128 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1goal129)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle store1term128
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313556-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313546-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313537-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313402-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1goal1)
+    (<t1> ^task-handle close1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle close1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313385-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313376-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1313363-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313339-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle close1 ^item-type task-operator ^name op_close1
+           ^arg1 <a2> ^subtask-handle subtask137)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1311501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object { <o2> <> <i1> })
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<o2> ^predicates <p3>)
+    (<p3> ^affordance1 openable1 ^affordance1 receptacle1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a2> ^arg1 <a3> ^subtask-handle subtask136)
+    (<a2> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1309605-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask135)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309531-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309531-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309531-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309531-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309531-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309516-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309516-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309516-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309516-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309516-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1309486-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1309476-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1309467-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308640-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask134)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308601-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308601-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308264-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask133)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308225-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308225-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1308203-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1goal1)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle open1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle open2 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1308186-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1308177-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1308171-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308147-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 not-open1 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle open1 ^item-type task-operator ^name op_open1
+           ^arg1 <a2> ^subtask-handle subtask132)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308108-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308108-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308107-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308107-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308083-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308083-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308081-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308081-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1307520-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h1>)
+    (<i1> ^type relation ^handle <h3> ^2 <i3> ^1 <i5>)
+    (<i2> ^type unary ^property-handle <p1> ^handle <h2> ^1 <i4>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i4> <i6> ^<i5> <i7> ^<i3> <i8>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^2 <i9> ^1 <i10> ^pred-count 2)
+    (<i9> ^2 <i8> ^1 <i7> ^handle <h3> ^type relation)
+    (<i10> ^1 <i6> ^property-handle <p1> ^handle <h2> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1307508-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1goal129)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category fridge1)
+    (<o3> ^predicates <p2>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^2 <i2> ^1 <i3> ^pred-count 2 ^handle store1goal129)
+    (<i2> ^2 <o3> ^1 <i1> ^handle in1 ^type relation)
+    (<i3> ^1 <o2> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1307460-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1goal129 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> store1goal129 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category fridge1)
+    (<i2> ^default <d2>)
+    (<d2> ^category fridge1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1307451-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle store1goal129
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1306711-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1start127 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1306680-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle store1 ^item-type task-operator ^name op_store1116
+           ^arg1 <a1> ^subtask-handle subtask117)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1306656-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal118)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal118)
+    (<i1> ^subtask-handle subtask117 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1306627-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal118 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal118 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category condiment1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1306616-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal118
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1306594-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int120 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1305904-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int100)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int100 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305893-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int100 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305884-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal101)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int100
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305853-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305853-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305853-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305853-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305853-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305838-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305838-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i5> ^object <i4> ^object <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305838-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i5> ^object <i4> ^object <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305838-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305838-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1305810-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1term110)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1term110 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305799-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1term110 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305790-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1goal109)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1term110
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305757-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305757-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h4>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305757-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h4>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305757-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305757-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305742-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305742-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h4>)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<a10> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3> ^object <i6> ^object <i5>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305742-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h4>)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<a10> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3> ^object <i6> ^object <i5>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305742-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305742-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305711-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1305041-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask114)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305002-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305002-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304762-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask113)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1304723-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1304723-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1304701-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal2)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type partial-predicate ^handle <h1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle put-down1goal2)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1304683-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1304674-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle put-down1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304626-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 { <i2> <> <i1> })
+    (<a2> ^arg-type partial-predicate ^handle in1)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object <i2>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<i2> ^predicates <p3>)
+    (<p3> ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a4> ^arg1 <a5> ^subtask-handle subtask112)
+    (<a4> ^2 <i2> ^handle in1 ^arg-type partial-predicate)
+    (<a5> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1303711-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask111)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303672-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303672-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303671-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303671-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303604-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1goal109)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type partial-predicate ^handle <h1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle move1goal109)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303585-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1goal109 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303576-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1start108)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1goal109
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1303163-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1start108)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1start108 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1303130-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sink1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category plate1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle move1 ^item-type task-operator ^name op_move198
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask99)
+    (<a1> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303110-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal101)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal101)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1303068-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal101 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal101 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303057-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal101
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1303042-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int102 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303031-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int102 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303022-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal105)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int102
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303016-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal105)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal105)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1159344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask93)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159320-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal94)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal94)
+    (<i1> ^subtask-handle subtask93 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1159291-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal94 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal94 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name messhall1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159033-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1repeat92)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1159018-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1repeat92 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1159009-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal87)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1158586-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask86)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 not-confirmed1
+          ^category officer1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 answered1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask86)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1158560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal87)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal87)
+    (<i1> ^subtask-handle subtask86 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1158522-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal87 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal87 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 relieving1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 answered1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158511-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal82)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal87
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1158195-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1158185-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158176-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156894-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1goal1)
+    (<t1> ^task-handle ask1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ask1goal1)
+    (<i1> ^command-name ask-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1156879-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156870-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156857-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t1156836-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1156829-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask81)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle ask1 ^item-type task-operator ^name op_ask1
+           ^modifiers <m1> ^arg1 <a1> ^subtask-handle subtask81)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156811-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal82)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal82)
+    (<i1> ^subtask-handle subtask81 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1156786-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal82 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal82 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156775-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1start77)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal82
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156601-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1start77)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1start77 ^item-type start-goal)
+}
+
+sp {chunkx2*__WHENEVER__PROP__*problem-space*action*propose*whenever*task*OpNoChange*t1150630-1
+    :chunk
+    (state <s1> ^world <w1> -^child-task-segment <c1> ^problem-space <p1>
+          ^task-operator <t1> ^name <n1>)
+    (<p1> ^subproblem execute ^name action)
+    (<w1> ^objects <o1>)
+    (<t1> ^name <n1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-visible1 visible1 ^category fire1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^whenever-handle whenever72 ^task-handle raise1
+           ^item-type task-operator ^name op_raise138 ^arg1 <a1>)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^category fire-alarm1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1150235-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1150235-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1150235-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1150235-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1150235-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1150232-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a3> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> })
+    (<p2> ^<a13> <a14> -^<a17> { <a18> <> <a14> <> <a16> } ^<a15> <a16>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1150180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1term69)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1term69 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1150169-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1term69 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1150160-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal67)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1term69
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t935534-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask66)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t935512-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal67)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal67)
+    (<i1> ^subtask-handle subtask66 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t935485-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal67 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal67 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t935474-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal64)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal67
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t934611-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask63)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934587-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal64)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal64)
+    (<i1> ^subtask-handle subtask63 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t934560-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal64 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal64 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934549-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal56)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal64
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934311-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934311-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934311-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934311-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934311-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934297-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934297-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934297-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934297-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934297-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934259-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t925624-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask62)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t925585-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t925585-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t794065-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask59)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t794026-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t794026-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t794019-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i3>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4>)
+    (<p1> ^<a1> <a2> ^<a3> { <a4> < <a2> } -^<a5> { <a6> <> <a2> <> <a4> })
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i5> ^pred-count 1)
+    (<i5> ^2 <i6> ^1 <i4> ^handle <h2> ^type relation)
+    (<i6> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a1> <a2> ^<a3> <a4>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t794013-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i4> ^arg-type object)
+    (<i4> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t794000-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal2)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^arg1 <a2> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle say1goal2)
+    (<i3> ^2 <i1> ^1 <i2> ^handle heard2 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t793982-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793973-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle say1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t793943-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t793935-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category officer1 ^name co1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg2 <a1>
+           ^arg1 <a2> ^subtask-handle subtask55)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+    (<a2> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t793915-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal56)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal56)
+    (<i1> ^subtask-handle subtask55 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t793877-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal56 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal56 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793866-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal50)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal56
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t744696-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category alarm1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask49)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t744683-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal50)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal50)
+    (<i1> ^subtask-handle subtask49 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t744654-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal50 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal50 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category alarm1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t744643-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal47)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal50
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t699408-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^is-confirmed1 confirmed1 ^category hall1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask46)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699393-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal47)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal47)
+    (<i1> ^subtask-handle subtask46 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t699364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal47 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal47 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category hall1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699353-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal43)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal47
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t699070-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask42)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask42)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal43)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal43)
+    (<i1> ^subtask-handle subtask42 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t699013-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal43 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal43 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699002-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1start39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal43
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t698695-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1start39)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1start39 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698460-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698460-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type partial-predicate ^2 <o6> ^handle <h4>)
+    (<a11> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698460-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type partial-predicate ^2 <o6> ^handle <h4>)
+    (<a11> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698460-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698460-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t698456-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a3> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698444-9
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698444-8
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698444-7
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698444-6
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698444-5
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*performed-subtask*OpNoChange*t698444-4
+    :chunk
+    (state <s1> ^operator <o1> ^problem-space <p1> ^current-task-segment <c1>)
+    (<o1> ^item-type task-operator ^subtask-handle <s2> ^task-handle <t1>)
+    (<p1> ^execution-type internal ^name action)
+    -->
+    (<c1> ^performed-subtask <s2>)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*increment*plan-length*OpNoChange*t698444-3
+    :chunk
+    (state <s1> ^problem-space <p1> ^plan-length <p2> ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^plan-length <p2> - ^plan-length (+ <p2> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*update*current-evaluation-depth*OpNoChange*t698444-2
+    :chunk
+    (state <s1> ^problem-space <p1> ^current-evaluation-depth <c1>
+          ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^current-evaluation-depth <c1> -
+           ^current-evaluation-depth (- <c1> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*tried-tied-operator*OpNoChange*t698444-1
+    :chunk
+    (state <s1> ^untried-tied-operator <u1> ^operator <u1> ^problem-space <p1>)
+    (<p1> ^execution-type internal ^name action)
+    (<u1> ^task-handle <t1>)
+    -->
+    (<s1> ^untried-tied-operator <u1> - ^tried-tied-operator <u1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t698429-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t698403-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1term36)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1term36 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698392-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1term36 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t698383-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int34)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1term36
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t698206-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int34)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int34 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698195-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int34 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697745-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int30 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697734-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int30 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697725-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal29)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t697696-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t697689-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask28)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t697664-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal29)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal29)
+    (<i1> ^subtask-handle subtask28 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t697637-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal29 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal29 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697626-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category post1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal29
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697148-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int20 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697137-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int20 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697128-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal21)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697099-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s2> ^{ <a5> > arg2 } <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697099-2
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s4>
+          ^{ <a9> > arg2 } <a10> ^{ <a19> > arg2 } <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> > <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697099-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s4>
+          ^{ <a9> > arg2 } <a10> ^{ <a19> > arg2 } <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> > <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697088-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697088-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697088-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697088-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697088-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697069-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697069-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697069-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697069-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697069-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697053-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697053-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697053-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697053-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697053-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t534012-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t534012-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t534012-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t534012-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t534012-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t518216-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask25)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t518177-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t518177-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t343037-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a5> > arg2 } <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t343037-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a5> > arg2 } <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t341663-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t341616-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t341608-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 supply1 ^category room1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category extinguisher1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle fetch1 ^item-type task-operator ^name op_fetch12
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask19)
+    (<a1> ^2 <o2> ^handle from1 ^arg-type partial-predicate)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t341588-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal21)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal21)
+    (<i1> ^subtask-handle subtask19 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t341548-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal21 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal21 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 supply1 ^category room1)
+    (<i2> ^default <d2>)
+    (<d2> ^category extinguisher1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t341537-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t340864-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int7 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340853-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int7 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340844-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int7
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340815-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340815-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340815-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340815-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340815-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340800-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340800-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340800-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340800-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340800-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t340770-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340760-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340751-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t326722-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t299848-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask15)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t299809-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t299809-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299787-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299777-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299768-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299751-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299741-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299732-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286339-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1goal1)
+    (<t1> ^task-handle face1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle face1goal1)
+    (<i1> ^command-name face-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286324-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286315-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286300-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286276-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1goal2)
+    (<t1> ^task-handle view1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle view1goal2)
+    (<i2> ^1 <i1> ^property-handle is-visible1 ^handle visible1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286259-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286250-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1goal2
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286237-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286213-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask14)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t286174-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t286174-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286152-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1goal1)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-on1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle activated1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286135-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286126-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286120-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286096-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask5)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286083-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal6)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal6)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t286056-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286045-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal6
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t285610-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t285600-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t285591-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t250395-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> ^name copy-task-operator ^task-operator <t1> ^copy-name <c1>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1>)
+   -{ (<t1> ^<a1> <a2>)
+      (<a2> ^arg-type <a3>)}
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t39421-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t39411-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t39402-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t16138-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1goal1)
+    (<t1> ^task-handle go-to-xy1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle goto-xy1goal1)
+    (<i1> ^command-name go-to-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t16123-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t16114-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t739-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t718-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type coordinate ^coord <c2>)
+    (<c2> -^z <z1> ^y <y1> ^x <x1>)
+    -->
+    (<d1> ^<c1> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^coord <c4> ^arg-type coordinate)
+    (<c4> ^y <y1> ^x <x1>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t607-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id { <i1> <> <c1> })
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a2> ^subtask-handle subtask3)
+    (<a2> ^2 <i1> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal4)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t576-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal4 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t565-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal4
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t330-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start2)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start2 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a3> <a8>
+           ^<a1> <a9>)
+    (<a8> ^2 <i4> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i4> ^<i3> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i4> ^1 <i5> ^handle <h1> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask <p1> -^performed-subtask subtask8)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h2> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy category
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy category
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+    (<a4> ^arg-type object ^id <i3>)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h2> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i4> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>
+          ^{ <a7> > <a4> } <a8>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<a6> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a9> <> <a7> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<c2> ^{ <a12> <> <a7> <> <a4> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h2> <> <h1> }
+          ^handle <h2>)
+    (<a15> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a11> <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> > <h5> }
+          -^handle { <h7> <> <h6> <> <h5> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a11> <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> > <h5> }
+          -^handle { <h7> <> <h6> <> <h5> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a7> > <a1> } <a8> ^{ <a9> > <a7> } <a10>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a3> <a4> -^<a5> { <a6> <> <a4> })
+    (<a8> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a11> <> <a9> <> <a7> <> <a1> } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a9> <a14> ^<a7> <a15> ^<a1> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a3> <a4>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^pred-count 1 ^arg-type temporal-clause ^1 <i2>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p2> ^handle <h3>)
+    (<i3> -^abstract true)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a16> ^<a3> <a17> ^<a1> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i3> ^property-handle <p2> ^handle <h3> ^type unary)
+    (<a17> ^handle <h1> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a12> <a13> ^<a10> <a11>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a6> <a7>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a3> <a8>
+           ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a6> <a7>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p1> ^<a10> <a11> ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> } ^<a12> <a13>
+          ^<a14> { <a15> > <a13> } -^<a16> { <a17> <> <a15> <> <a13> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> } ^<a12> <a13>
+          ^<a14> { <a15> > <a13> } -^<a16> { <a17> <> <a15> <> <a13> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+    (<a4> ^arg-type object ^id <i3>)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i4> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>
+          ^{ <a7> > <a4> } <a8>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<a6> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a9> <> <a7> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<c2> ^{ <a12> <> <a7> <> <a4> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a15> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6> ^<a7> <a8>
+          ^{ <a9> > <a7> } <a10> ^{ <a11> > <a9> } <a12>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+    (<a6> ^arg-type modifiers ^handle <h3>)
+    (<a8> ^arg-type object ^id <o6>)
+    (<a10> ^arg-type object ^id <o5>)
+   -{ (<o1> ^{ <a13> <> <a11> <> <a9> <> <a7> } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6> ^<a7> <a8>
+          ^{ <a9> > <a7> } <a10> ^{ <a11> > <a9> } <a12>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+    (<a6> ^arg-type modifiers ^handle <h3>)
+    (<a8> ^arg-type object ^id <o6>)
+    (<a10> ^arg-type object ^id <o5>)
+   -{ (<o1> ^{ <a13> <> <a11> <> <a9> <> <a7> } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
diff --git a/examples/interior-guard/p20201202_084229_573.png b/examples/interior-guard/p20201202_084229_573.png
new file mode 100644
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diff --git a/python/rosie/evaluation/interior-guard/script.txt b/examples/interior-guard/script.txt
similarity index 100%
rename from python/rosie/evaluation/interior-guard/script.txt
rename to examples/interior-guard/script.txt
diff --git a/python/rosie/evaluation/interior-guard/smem-config.txt b/examples/interior-guard/smem-config.txt
similarity index 100%
rename from python/rosie/evaluation/interior-guard/smem-config.txt
rename to examples/interior-guard/smem-config.txt
diff --git a/examples/interior-guard/testing.txt b/examples/interior-guard/testing.txt
new file mode 100644
index 0000000000..a9796ef7f3
--- /dev/null
+++ b/examples/interior-guard/testing.txt
@@ -0,0 +1,70 @@
+Guard the barracks.
+Officer Williams. 
+
+### Inspect Messhall #1
+# Move plate onto the table
+#!CMD place 30 on1 24 .
+# Remove the ketchup
+!CMD teleport 31 19.00 4.00 0.20 wp09 .
+!CMD SKIP .
+
+
+### Inspect Eastern Sentry Post #1
+# Remove the sentry
+!CMD teleport 20 21.00 3.00 0.90 wp09 .
+!CMD SKIP .
+# Ignore the ensure reporting messages
+!CMD SKIP .
+!CMD SKIP .
+!CMD SKIP .
+
+
+### Inspect Motorpool #1
+# Move a fire to the motorpool
+!CMD teleport 49 7.00 1.00 0.50 wp08 .
+!CMD SKIP
+# Move the CO to the messhall
+!CMD teleport 19 16.50 12.50 0.90 wp04 .
+!CMD SKIP .
+# Dont help find the CO
+Unknown.
+# Ignore fire messages - remove fire from motorpool
+!CMD SKIP .
+!CMD teleport 49 20.00 4.00 0.50 wp09 .
+!CMD SKIP .
+
+
+### Inspect Messhall #2
+# Remove ketchup, add mustard onto table
+#!CMD teleport 31 19.00 4.00 0.20 wp09 .
+!CMD teleport 32 11.50 10.00 0.80 wp04 .
+#!CMD place 32 on1 24 .
+!CMD SKIP .
+
+
+### Inspect Eastern Sentry Post #2
+# Put the sentry back, remove the extinguisher
+!CMD teleport 20 29.00 12.20 0.90 wp09 .
+!CMD teleport 36 24.00 7.50 0.20 wp07 .
+!CMD SKIP .
+
+
+### Inspect Motorpool #2
+# Remove the dispatcher
+!CMD set-state 42 is-locked1 not-locked1 .
+!CMD set-state 42 is-locked1 not-locked1 .
+!CMD set-state 42 is-locked1 not-locked1 .
+!CMD set-state 42 is-locked1 not-locked1 .
+!CMD teleport 37 21.00 3.00 0.90 wp09 .
+!CMD SKIP .
+
+### Go to CO's office
+# Move Williams to the CO's office
+#!CMD teleport 15 8.00 17.00 0.90 wp01 .
+!CMD teleport 50 3.34 11.50 0.90 wp02.
+!CMD SKIP .
+
+# Ignore the ensure reporting messages
+!CMD skip .
+!CMD skip .
+!CMD skip .
diff --git a/examples/interior-guard/training-tcns.txt b/examples/interior-guard/training-tcns.txt
new file mode 100644
index 0000000000..b4239243fb
--- /dev/null
+++ b/examples/interior-guard/training-tcns.txt
@@ -0,0 +1,334 @@
+
+Task Concept Network for guard1 @100042
+
+Task Structure:
+  op_guard176(arg1:)
+
+Subtasks:
+
+  subtask81 @999174
+  op_ask1(mod:once1, arg1:[message,|who is my relieving officer?|])
+
+  subtask86 @999182
+  op_remember1(mod:once1, arg1:[answered1], arg2:[officer1,relieving1])
+
+  subtask93 @999205
+  op_inspect11(arg1:[room1,messhall1])
+
+  subtask141 @999323
+  op_inspect11(arg1:[east1,post1])
+
+  subtask145 @999330
+  op_inspect11(arg1:[room1,motorpool1])
+
+  subtask165 @999374
+  op_go-to-location1(arg2:to1([office1,cos1]))
+
+Goal Graph:
+
+  guard1start77 @999169: start-goal
+    --> guard1goal82
+
+  guard1goal82 @999170: { exec(subtask81:op_ask1) }
+    --> guard1goal87
+
+  guard1goal87 @999179: { exec(subtask86:op_remember1) }
+    --> guard1repeat91
+
+  guard1repeat91 @999192: repeat-goal
+    --IF{ confirmed1([officer1,relieving1]) }-> guard1exit92
+    --> guard1goal94
+
+  guard1exit92 @999194: loop-exit
+    --> guard1term168
+
+  guard1goal94 @999202: { exec(subtask93:op_inspect11) }
+    --> guard1goal142
+
+  guard1term168 @999381: terminal-goal
+
+  guard1goal142 @999320: { exec(subtask141:op_inspect11) }
+    --> guard1goal146
+
+  guard1goal146 @999327: { exec(subtask145:op_inspect11) }
+    --> guard1goal166
+
+  guard1goal166 @999371: { exec(subtask165:op_go-to-location1) }
+    --> guard1repeat91
+Task Concept Network for inspect1 @100045
+
+Task Structure:
+  op_inspect11(arg1:<S1>)
+
+Subtasks:
+
+  subtask3 @999008
+  op_go-to-location1(arg2:to1(<S1>))
+
+  subtask5 @999024
+  op_turn-on1(arg1:[lightswitch1])
+
+  subtask19 @999044
+  op_fetch12(arg1:[extinguisher1], arg2:from1([room1,supply1]))
+
+  subtask28 @999065
+  op_ensure115(arg1:[sentry1], arg2:)
+
+  subtask33 @999082
+  op_turn-off1(arg1:[lightswitch1])
+
+  subtask99 @999232
+  op_move198(arg1:[plate1], arg2:in1([sink1]))
+
+  subtask117 @999277
+  op_store1116(arg1:[condiment1])
+
+  subtask158 @999346
+  op_ensure115(arg1:[sentry1], arg2:)
+
+  subtask160 @999354
+  op_ensure115(arg1:[dispatcher1], arg2:)
+
+  subtask162 @999362
+  op_lock1(arg1:[vehicle1])
+
+Goal Graph:
+
+  inspect1start155 @999003: start-goal
+    --> inspect1goal154
+
+  inspect1goal154 @999004: { exec(subtask3:op_go-to-location1) }
+    --IF{ not-activated1([lightswitch1]) }-> inspect1goal156
+    --> inspect1int153
+
+  inspect1goal156 @999012: { exec(subtask5:op_turn-on1) }
+    --> inspect1int153
+
+  inspect1int153 @999015: intermediate-goal
+    --> inspect1int151
+    --IF{ cur-loc([room1,motorpool1]) }-> inspect1goal152
+
+  inspect1int151 @999337: intermediate-goal
+    --> inspect1int120
+    --IF{ cur-loc([room1,messhall1]), on1([plate1],[table1]) }-> inspect1goal125
+
+  inspect1goal152 @999338: { exec(subtask158:op_ensure115), exec(subtask160:op_ensure115), exec(subtask162:op_lock1) }
+    --> inspect1int151
+
+  inspect1int120 @999215: intermediate-goal
+    --> inspect1int118
+    --IF{ cur-loc([room1,messhall1]), on1([condiment1],[table1]) }-> inspect1goal119
+
+  inspect1goal125 @999216: { exec(subtask99:op_move198) }
+    --> inspect1int120
+
+  inspect1int118 @999260: intermediate-goal
+    --> inspect1int20
+    --IF{ cur-loc([post1]), missing[extinguisher1] }-> inspect1goal21
+
+  inspect1goal119 @999261: { exec(subtask117:op_store1116) }
+    --> inspect1int118
+
+  inspect1int20 @999032: intermediate-goal
+    --IF{ cur-loc([post1]) }-> inspect1goal29
+    --> inspect1int30
+
+  inspect1goal21 @999033: { exec(subtask19:op_fetch12) }
+    --> inspect1int20
+
+  inspect1goal29 @999055: { exec(subtask28:op_ensure115) }
+    --> inspect1int30
+
+  inspect1int30 @999058: intermediate-goal
+    --IF{ empty1(<S1>) }-> inspect1goal35
+    --> inspect1int34
+
+  inspect1goal35 @999073: { exec(subtask33:op_turn-off1) }
+    --> inspect1int34
+
+  inspect1int34 @999072: intermediate-goal
+    --> inspect1term36
+
+  inspect1term36 @999086: terminal-goal
+Task Concept Network for raise1 @100043
+
+Task Structure:
+  op_raise138(arg1:)
+
+Subtasks:
+
+  subtask42 @999096
+  op_remember1(mod:once1, arg1:[location,current1], arg2:[location,emergency1])
+
+  subtask46 @999107
+  op_go-to-location1(arg2:to1([east1,hall1]))
+
+  subtask49 @999116
+  op_turn-on1(arg1:[alarm1])
+
+  subtask55 @999123
+  op_say1(arg1:[message,|there is a fire.|], arg2:to1([officer1,co1]))
+
+  subtask63 @999140
+  op_describe1(arg1:[location,emergency1])
+
+  subtask66 @999147
+  op_go-to-location1(arg2:to1([location,emergency1]))
+
+Goal Graph:
+
+  raise1start39 @999091: start-goal
+    --> raise1goal43
+
+  raise1goal43 @999092: { exec(subtask42:op_remember1) }
+    --> raise1goal47
+
+  raise1goal47 @999104: { exec(subtask46:op_go-to-location1) }
+    --> raise1goal50
+
+  raise1goal50 @999113: { exec(subtask49:op_turn-on1) }
+    --> raise1goal56
+
+  raise1goal56 @999120: { exec(subtask55:op_say1) }
+    --> raise1goal64
+
+  raise1goal64 @999137: { exec(subtask63:op_describe1) }
+    --> raise1goal67
+
+  raise1goal67 @999144: { exec(subtask66:op_go-to-location1) }
+    --> raise1term69
+
+  raise1term69 @999153: terminal-goal
+Task Concept Network for fetch1 @100025
+
+Task Structure:
+  op_fetch12(arg1:<S1>, arg2:())
+
+Subtasks:
+
+  subtask9 @464
+  op_find1(arg1:<S1>)
+
+  subtask13 @465
+  op_put-down1(arg1:<S1>)
+
+  subtask12 @466
+  op_go-to-location1(arg2:to1(<S5>[location,starting1]))
+
+  subtask10 @467
+  op_pick-up1(arg1:<S1>)
+
+  subtask8 @468
+  op_remember1(mod:once1, mod:first1, arg1:[location,current1], arg2:<S5>[location,starting1])
+
+Goal Graph:
+
+  fetch1start3 @455: start-goal
+    --> fetch1goal6
+
+  fetch1goal6 @469: { in1(<S1>,<S5>[location,starting1]) }
+    --> fetch1term5
+
+  fetch1term5 @482: terminal-goal
+Task Concept Network for ensure1 @100054
+
+Task Structure:
+  op_ensure115(arg1:<S1>, arg2:)
+
+Subtasks:
+
+  subtask41 @401
+  op_describe1(arg1:[location,starting1])
+
+  subtask32 @402
+  op_describe1(arg1:[sentry1])
+
+  subtask44 @403
+  op_go-to-location1(arg2:to1([location,starting1]))
+
+  subtask22 @404
+  op_remember1(mod:once1, arg1:[location,current1], arg2:[location,starting1])
+
+  subtask26 @405
+  op_find1(arg1:[officer1,co1])
+
+  subtask38 @406
+  op_say1(arg1:[message,|is not present|])
+
+Goal Graph:
+
+  ensure1start16 @393: start-goal
+    --> ensure1goal23
+    --IF{ confirmed1(<S1>) }-> ensure1term19
+
+  ensure1goal23 @409: { exec(subtask22:op_remember1) }
+    --> ensure1goal27
+
+  ensure1term19 @408: terminal-goal
+
+  ensure1goal27 @430: { exec(subtask26:op_find1) }
+    --> ensure1goal33
+
+  ensure1goal33 @442: { exec(subtask32:op_describe1) }
+    --> ensure1goal39
+
+  ensure1goal39 @445: { exec(subtask38:op_say1) }
+    --> ensure1goal42
+
+  ensure1goal42 @448: { exec(subtask41:op_describe1) }
+    --> ensure1goal45
+
+  ensure1goal45 @451: { exec(subtask44:op_go-to-location1) }
+    --> ensure1term47
+
+  ensure1term47 @454: terminal-goal
+Task Concept Network for move1 @100021
+
+Task Structure:
+  op_move198(arg1:<S1>, arg2:<S2>(<S3>))
+
+Subtasks:
+
+  subtask111 @999248
+  op_pick-up1(arg1:<S1>)
+
+  subtask112 @999250
+  op_put-down1(arg1:<S1>, arg2:<S2>(<S3>))
+
+Goal Graph:
+
+  move1start108 @999241: start-goal
+    --> move1goal110
+
+  move1goal110 @999243: { <S2>(<S1>,<S3>) }
+    --> move1term109
+
+  move1term109 @999242: terminal-goal
+Task Concept Network for store1 @100022
+
+Task Structure:
+  op_store1116(arg1:<S1>)
+
+Subtasks:
+
+  subtask132 @999301
+  op_open1(arg1:<S2>[fridge1])
+
+  subtask135 @999307
+  op_pick-up1(arg1:<S1>)
+
+  subtask136 @999309
+  op_put-down1(arg1:<S1>, arg2:in1(<S2>[fridge1]))
+
+  subtask137 @999314
+  op_close1(arg1:<S2>[fridge1])
+
+Goal Graph:
+
+  store1start127 @999281: start-goal
+    --IF{ condiment1(<S1>) }-> store1goal128
+
+  store1goal128 @999282: { in1(<S1>,[fridge1]), not-open1(<S2>[fridge1]) }
+    --> store1term129
+
+  store1term129 @999294: terminal-goal
diff --git a/python/rosie/evaluation/interior-guard/world.info b/examples/interior-guard/world.info
similarity index 100%
rename from python/rosie/evaluation/interior-guard/world.info
rename to examples/interior-guard/world.info
diff --git a/python/rosie/evaluation/serve/Makefile b/examples/serve/Makefile
similarity index 100%
rename from python/rosie/evaluation/serve/Makefile
rename to examples/serve/Makefile
diff --git a/python/rosie/evaluation/serve/README b/examples/serve/README
similarity index 100%
rename from python/rosie/evaluation/serve/README
rename to examples/serve/README
diff --git a/python/rosie/evaluation/serve/__main__.py b/examples/serve/__main__.py
similarity index 100%
rename from python/rosie/evaluation/serve/__main__.py
rename to examples/serve/__main__.py
diff --git a/python/rosie/evaluation/serve/agent.config b/examples/serve/agent.config
similarity index 100%
rename from python/rosie/evaluation/serve/agent.config
rename to examples/serve/agent.config
diff --git a/python/rosie/evaluation/blending1/extra-smem-adds.soar b/examples/serve/extra-smem-adds.soar
similarity index 100%
rename from python/rosie/evaluation/blending1/extra-smem-adds.soar
rename to examples/serve/extra-smem-adds.soar
diff --git a/python/rosie/evaluation/serve/extra-soar-rules.soar b/examples/serve/extra-soar-rules.soar
similarity index 100%
rename from python/rosie/evaluation/serve/extra-soar-rules.soar
rename to examples/serve/extra-soar-rules.soar
diff --git a/python/rosie/evaluation/serve/script.txt b/examples/serve/script.txt
similarity index 100%
rename from python/rosie/evaluation/serve/script.txt
rename to examples/serve/script.txt
diff --git a/python/rosie/evaluation/find-test/smem-config.txt b/examples/serve/smem-config.txt
similarity index 100%
rename from python/rosie/evaluation/find-test/smem-config.txt
rename to examples/serve/smem-config.txt
diff --git a/python/rosie/evaluation/serve/world.info b/examples/serve/world.info
similarity index 100%
rename from python/rosie/evaluation/serve/world.info
rename to examples/serve/world.info
diff --git a/python/rosie/evaluation/modifiers/fill/Makefile b/examples/template/Makefile
similarity index 85%
rename from python/rosie/evaluation/modifiers/fill/Makefile
rename to examples/template/Makefile
index 43529f80d1..d416648241 100644
--- a/python/rosie/evaluation/modifiers/fill/Makefile
+++ b/examples/template/Makefile
@@ -1,11 +1,12 @@
-AGENT_NAME=fill
+AGENT_NAME=template
+
 ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
 
 all: world ${ROSIE_CONFIG}
 
 
 # Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
+run_example: run_mobile_sim run_rosie
 
 run_mobile_sim: ${AGENT_NAME}.world
 	mkdir -p output
@@ -13,16 +14,16 @@ run_mobile_sim: ${AGENT_NAME}.world
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m run_rosie.py > output/rosie_output.txt &
+	python3 run_agent.py > output/rosie_output.txt &
 
 run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 run_rosie.py --test
+	python3 run_agent.py --test
 	echo "########### DIFF ##########"
 	diff output/test-output.txt correct-output.txt
 
 
-# agent/rosie.fill.config: Configures the rosie soar agent that will be sourced to run
+# agent/rosie.tourguide.config: Configures the rosie soar agent that will be sourced to run
 ${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
 	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
 
diff --git a/examples/template/README.md b/examples/template/README.md
new file mode 100644
index 0000000000..743aa7190e
--- /dev/null
+++ b/examples/template/README.md
@@ -0,0 +1,60 @@
+# Agent Setup Guide
+
+This contains instructions on how to create and run your own custom version of the Rosie agent. 
+
+## Basic Workflow
+
+The core Rosie agent (in rosie/agent) contains the universal Soar code that supports interactive task learning 
+across a variety of environments and worlds. To minimize conflicts between different people working on the code, 
+a decision was made to have all agent customization happen outside of the core agent directory. 
+Therefore, a configuration step was introduced so that users could set all the settings they needed and add any 
+special knowledge for their particular use. 
+
+The basic workflow is as follows:
+1. Create a new directory and create a Rosie config file, along with any special rules/knowledge that the agent needs
+2. Run the java agent configuration tool to generate the files necessary to run Rosie
+3. Run the Rosie agent with whatever interface is desired, pointing it to the files generated by the configuration tool
+
+# Creating a new agent configuration
+
+You can use this template folder as a guide, make a copy of it in a new location and edit files as you see fit. 
+
+## `agent.config [required]`
+This file contains all the settings needed to configure an instance of Rosie. Settings consist of a line of the form `setting_name = value`
+
+The provided agent.config file contains comments with information on each setting, but they are repeated here
+
+**Basic Settings:**
+
+```
+agent-name = [str]
+# The name used when creating agent files
+
+agent-dir = [path]
+# The directory to put newly created agent files into 
+# By default, it puts them in a directory called agent
+```
+
+**Environment Settings:**
+
+Rosie can be run attached to a number of different external environments, both real and simulated, as well as internal models of the world
+
+
+```
+domain = [internal|magicbot|tabletop|ai2thor|cozmo|fetch]
+```
+The domain setting tells the Rosie agent which environment it is going to be run with. 
+The configuration tool will add the wme `(top-state [s] ^agent-params.domain [domain]).`
+Certain soar rules, especially those dealing with perception and action, test the domain. 
+If the agent is not connected to an external environment, use the internal domain. If you are using the mobile simulator, use the magicbot domain.
+
+```
+simulate-perception = true
+```
+This setting is only used for the internal domain, and tells the agent to simulate an input link and mimic the standard way of managing perception and the world. 
+
+```
+internal-world-file = [filename]
+```
+This setting should only be used in combination with `domain = internal` and `simulate-perception = true`. It searches for the given file in `agent/manage-world-state/world/internal:q
+
diff --git a/python/rosie/evaluation/move-variations/agent.config b/examples/template/agent.config
similarity index 97%
rename from python/rosie/evaluation/move-variations/agent.config
rename to examples/template/agent.config
index 0549ac5712..70f76e7702 100644
--- a/python/rosie/evaluation/move-variations/agent.config
+++ b/examples/template/agent.config
@@ -1,9 +1,9 @@
-/###
+###
 # agent-name = <string>
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
 
-agent-name = move-variations
+agent-name = tourguide
 
 
 ####
@@ -122,12 +122,10 @@ custom-smem-file = extra-smem-adds.soar
 spawn-debugger = false
 
 enable-log = true
-log-filename = output/move-vars.log
+log-filename = output/agent-output.log
 
 watch-level = 1
 
 reconfig-on-launch = true
 
 find-help = script
-
-clock-step-ms = 400
diff --git a/python/rosie/evaluation/blending3/extra-smem-adds.soar b/examples/template/extra-smem-adds.soar
similarity index 100%
rename from python/rosie/evaluation/blending3/extra-smem-adds.soar
rename to examples/template/extra-smem-adds.soar
diff --git a/python/rosie/evaluation/blending3/extra-soar-rules.soar b/examples/template/extra-soar-rules.soar
similarity index 100%
rename from python/rosie/evaluation/blending3/extra-soar-rules.soar
rename to examples/template/extra-soar-rules.soar
diff --git a/python/rosie/evaluation/modifiers/__main__.py b/examples/template/run_agent.py
similarity index 55%
rename from python/rosie/evaluation/modifiers/__main__.py
rename to examples/template/run_agent.py
index f6bbc5facf..b5b4060fc6 100644
--- a/python/rosie/evaluation/modifiers/__main__.py
+++ b/examples/template/run_agent.py
@@ -9,19 +9,6 @@
 from rosie.testing import TestAgent
 from mobilesim.rosie import MobileSimAgent
 
-
-def launch_gui(rosie_config):
-    root = Tk()
-    eval_agent = MobileSimAgent(rosie_config)
-    eval_agent.messages.append("!CMD cli pc -f")
-    eval_gui = RosieGUI(eval_agent, master=root)
-    eval_gui.run()
-
-def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0, clock_step_ms=20)
-    eval_agent.run_test('correct-output.txt')
-
 def main():
     # Lookup $ROSIE_HOME
     if "ROSIE_HOME" in os.environ:
@@ -30,13 +17,26 @@ def main():
         print("ERROR: Requires ROSIE_HOME environment variable set")
         return
 
-    AGENT_NAME = "modifiers"
-    rosie_config = rosie_home + "/python/rosie/evaluation/" + AGENT_NAME + "/agent/rosie." + AGENT_NAME + ".config"
+    AGENT_NAME = "tourguide"
+    agent_dir = rosie_home + "/examples/" + AGENT_NAME 
+    rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
 
     if "--test" in sys.argv:
         run_test(rosie_config)
     else:
         launch_gui(rosie_config)
 
-if __name__ == "__main__":
-    main()
+def launch_gui(rosie_config):
+    root = Tk()
+    rosie_agent = MobileSimAgent(rosie_config)
+    rosie_agent.messages.append("!CMD cli pc -f")
+    rosie_gui = RosieGUI(rosie_agent, master=root)
+    rosie_gui.run()
+
+def run_test(rosie_config):
+    rosie_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
+            task_test_output_filename='output/test-output.txt', watch_level=0, messages_file="test-script.txt")
+    rosie_agent.run_test('correct-output.txt')
+
+
+main()
diff --git a/python/rosie/evaluation/blending3/script.txt b/examples/template/script.txt
similarity index 100%
rename from python/rosie/evaluation/blending3/script.txt
rename to examples/template/script.txt
diff --git a/python/rosie/evaluation/blending3/smem-config.txt b/examples/template/smem-config.txt
similarity index 100%
rename from python/rosie/evaluation/blending3/smem-config.txt
rename to examples/template/smem-config.txt
diff --git a/python/rosie/evaluation/blending3/script_internal.txt b/examples/template/test-script.txt
similarity index 100%
rename from python/rosie/evaluation/blending3/script_internal.txt
rename to examples/template/test-script.txt
diff --git a/python/rosie/evaluation/blending3/world.info b/examples/template/world.info
similarity index 100%
rename from python/rosie/evaluation/blending3/world.info
rename to examples/template/world.info
diff --git a/python/rosie/evaluation/blending1/Makefile b/examples/tourguide/Makefile
similarity index 85%
rename from python/rosie/evaluation/blending1/Makefile
rename to examples/tourguide/Makefile
index 95c8438c69..b0c864bba3 100644
--- a/python/rosie/evaluation/blending1/Makefile
+++ b/examples/tourguide/Makefile
@@ -1,4 +1,4 @@
-AGENT_NAME=blending1
+AGENT_NAME=tourguide
 
 ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
 
@@ -6,7 +6,7 @@ all: world ${ROSIE_CONFIG}
 
 
 # Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
+run_example: run_mobile_sim run_rosie
 
 run_mobile_sim: ${AGENT_NAME}.world
 	mkdir -p output
@@ -14,16 +14,16 @@ run_mobile_sim: ${AGENT_NAME}.world
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
+	python3 run_agent.py > output/rosie_output.txt &
 
 run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
+	python3 run_agent.py --test
 	echo "########### DIFF ##########"
 	diff output/test-output.txt correct-output.txt
 
 
-# agent/rosie.blending1.config: Configures the rosie soar agent that will be sourced to run
+# agent/rosie.tourguide.config: Configures the rosie soar agent that will be sourced to run
 ${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
 	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
 
diff --git a/python/rosie/evaluation/blending3/agent.config b/examples/tourguide/agent.config
similarity index 98%
rename from python/rosie/evaluation/blending3/agent.config
rename to examples/tourguide/agent.config
index 3c6ef79f88..b50e39029c 100644
--- a/python/rosie/evaluation/blending3/agent.config
+++ b/examples/tourguide/agent.config
@@ -3,7 +3,7 @@
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
 
-agent-name = blending3
+agent-name = tourguide
 
 
 ####
@@ -122,7 +122,7 @@ custom-smem-file = extra-smem-adds.soar
 spawn-debugger = false
 
 enable-log = true
-log-filename = output/blending3.log
+log-filename = output/agent-output.log
 
 watch-level = 1
 
diff --git a/python/rosie/evaluation/blending3/correct-output.txt b/examples/tourguide/correct-output.txt
similarity index 100%
rename from python/rosie/evaluation/blending3/correct-output.txt
rename to examples/tourguide/correct-output.txt
diff --git a/python/rosie/evaluation/modifiers/extra-smem-adds.soar b/examples/tourguide/extra-smem-adds.soar
similarity index 100%
rename from python/rosie/evaluation/modifiers/extra-smem-adds.soar
rename to examples/tourguide/extra-smem-adds.soar
diff --git a/python/rosie/evaluation/blending1/extra-soar-rules.soar b/examples/tourguide/extra-soar-rules.soar
similarity index 83%
rename from python/rosie/evaluation/blending1/extra-soar-rules.soar
rename to examples/tourguide/extra-soar-rules.soar
index 2f7bae36f4..f619ce186a 100644
--- a/python/rosie/evaluation/blending1/extra-soar-rules.soar
+++ b/examples/tourguide/extra-soar-rules.soar
@@ -28,6 +28,20 @@ sp {top-state*elaborate*agent-params*custom
 source internal-world.soar
 source waypoint-map.soar
 
+#### Increase the search depth over the default
+#sp {search-for-next-subtask*elaborate*search-phase-info
+#   (state <s> ^name search-for-next-subtask)
+#-->
+#   (<s> ^number-phases 2
+#        ^search-phase-info <p1> <p2>)
+#   # First phase - only consider subtasks with all objects in common with the current task
+#   (<p1> ^num 1 ^max-depth 4 ^require-all-objects-match 1 ^reject-perc-ops 3)
+#
+#   # Second phase - level 1: any subtasks, level 2: subtasks with 1+ matching objects, 
+#   #                level 3-4: only subtasks matching all objects
+#   (<p2> ^num 2 ^max-depth 4 ^require-matching-object 3 ^require-all-objects-match 4 ^reject-perc-ops 3)
+#}
+
 #explain all on
 
 sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
@@ -56,8 +70,6 @@ sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*
    (<preds> ^predicate.handle heard2)
 }
 
-
-
 ### Rules for printing events
 sp {complete-push-task-segment*report*time*info
    (state <s> ^name push-task-segment
diff --git a/python/rosie/evaluation/blending1/__main__.py b/examples/tourguide/run_agent.py
similarity index 55%
rename from python/rosie/evaluation/blending1/__main__.py
rename to examples/tourguide/run_agent.py
index ef98580c61..b5b4060fc6 100644
--- a/python/rosie/evaluation/blending1/__main__.py
+++ b/examples/tourguide/run_agent.py
@@ -9,19 +9,6 @@
 from rosie.testing import TestAgent
 from mobilesim.rosie import MobileSimAgent
 
-
-def launch_gui(rosie_config):
-    root = Tk()
-    eval_agent = MobileSimAgent(rosie_config)
-    eval_agent.messages.append("!CMD cli pc -f")
-    eval_gui = RosieGUI(eval_agent, master=root)
-    eval_gui.run()
-
-def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0)
-    eval_agent.run_test('correct-output.txt')
-
 def main():
     # Lookup $ROSIE_HOME
     if "ROSIE_HOME" in os.environ:
@@ -30,13 +17,26 @@ def main():
         print("ERROR: Requires ROSIE_HOME environment variable set")
         return
 
-    AGENT_NAME = "blending1"
-    rosie_config = rosie_home + "/python/rosie/evaluation/" + AGENT_NAME + "/agent/rosie." + AGENT_NAME + ".config"
+    AGENT_NAME = "tourguide"
+    agent_dir = rosie_home + "/examples/" + AGENT_NAME 
+    rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
 
     if "--test" in sys.argv:
         run_test(rosie_config)
     else:
         launch_gui(rosie_config)
 
-if __name__ == "__main__":
-    main()
+def launch_gui(rosie_config):
+    root = Tk()
+    rosie_agent = MobileSimAgent(rosie_config)
+    rosie_agent.messages.append("!CMD cli pc -f")
+    rosie_gui = RosieGUI(rosie_agent, master=root)
+    rosie_gui.run()
+
+def run_test(rosie_config):
+    rosie_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
+            task_test_output_filename='output/test-output.txt', watch_level=0, messages_file="test-script.txt")
+    rosie_agent.run_test('correct-output.txt')
+
+
+main()
diff --git a/examples/tourguide/script.txt b/examples/tourguide/script.txt
new file mode 100644
index 0000000000..64d87be421
--- /dev/null
+++ b/examples/tourguide/script.txt
@@ -0,0 +1,77 @@
+Permanently remember the fridge as the storage location of a soda.
+Permanently remember the fridge as the storage location of a water.
+Permanently remember the fridge as the storage location of a juice.
+
+Guide Alice.
+
+# Goal-based task: serve
+Serve Alice
+The goal is that Alice is holding the desired drink.
+Ask Alice "What drink would you like?"
+A soda.
+Remember the answer as the desired drink.
+The fridge is in the kitchen.
+Permanently remember the desired drink as the preferred drink of Alice.
+You are done.
+
+# Procedural steps
+Say "Follow me to the lab"
+!CMD SKIP
+Go to the lab. 
+!CMD TELEPORT 16 14 10 0.9 wp04
+
+# Composite goal
+Complete the following tasks.
+Say "To the right are the computer workstations".
+!CMD SKIP
+Say "On the left is the workbench".
+!CMD SKIP
+Say "The red cabinet contains various tools".
+!CMD SKIP
+You are done.
+
+# Procedural step
+Say "Feel free to look around and let me know when you are done".
+!CMD SKIP
+
+# Maintenance task
+Follow Alice.
+The only goal is that Alice is always visible.
+
+# Move Alice around
+!CMD TELEPORT 16 10 12.5 0.9
+!CMD SKIP
+!CMD TELEPORT 16 14 10 0.9
+!CMD SKIP
+!CMD TELEPORT 16 12 7 0.9
+!CMD SKIP
+Finished.
+
+Say "Follow me back to the main office".
+!CMD SKIP
+Go to the main office.
+!CMD TELEPORT 16 14 3 0.9 wp02
+You are done.
+
+
+#### TESTING TASK
+
+Guide Bob.
+A water.
+
+!CMD SKIP
+!CMD TELEPORT 17 14 10 0.9 wp04
+!CMD SKIP
+!CMD SKIP
+!CMD SKIP
+!CMD TELEPORT 17 10 12.5 0.9
+!CMD SKIP
+!CMD TELEPORT 17 14 10 0.9
+!CMD SKIP
+!CMD TELEPORT 17 12 7 0.9
+!CMD SKIP
+Finished.
+!CMD SKIP
+
+### END
+!CMD stop
diff --git a/python/rosie/evaluation/modifiers/smem-config.txt b/examples/tourguide/smem-config.txt
similarity index 100%
rename from python/rosie/evaluation/modifiers/smem-config.txt
rename to examples/tourguide/smem-config.txt
diff --git a/examples/tourguide/test-script.txt b/examples/tourguide/test-script.txt
new file mode 100644
index 0000000000..69e044205c
--- /dev/null
+++ b/examples/tourguide/test-script.txt
@@ -0,0 +1,66 @@
+Permanently remember the fridge as the storage location of a soda.
+Permanently remember the fridge as the storage location of a water.
+Permanently remember the fridge as the storage location of a juice.
+
+Guide Alice.
+
+# Goal-based task: serve
+Serve Alice
+The goal is that Alice is holding the desired drink.
+Ask Alice "What drink would you like?"
+A soda.
+Remember the answer as the desired drink.
+The fridge is in the kitchen.
+Permanently remember the desired drink as the preferred drink of Alice.
+You are done.
+
+# Procedural steps
+Say "Follow me to the lab"
+!CMD SKIP
+Go to the lab. 
+!CMD TELEPORT 16 14 10 0.9 wp04
+
+# Composite goal
+Complete the following tasks.
+Say "To the right are the computer workstations".
+!CMD SKIP
+Say "On the left is the workbench".
+!CMD SKIP
+Say "The red cabinet contains various tools".
+!CMD SKIP
+You are done.
+
+# Procedural step
+Say "Feel free to look around and let me know when you are done".
+!CMD SKIP
+
+# Maintenance task
+Follow Alice.
+The only goal is that Alice is always visible.
+
+# Move Alice around
+Finished.
+
+Say "Follow me back to the main office".
+!CMD SKIP
+Go to the main office.
+!CMD TELEPORT 16 14 3 0.9 wp02
+You are done.
+
+
+#### TESTING TASK
+
+Guide Bob.
+A water.
+
+!CMD SKIP
+!CMD TELEPORT 17 14 10 0.9 wp04
+!CMD SKIP
+!CMD SKIP
+!CMD SKIP
+!CMD SKIP
+Finished.
+!CMD SKIP
+
+### END
+!CMD stop
diff --git a/python/rosie/evaluation/modifiers/world.info b/examples/tourguide/world.info
similarity index 88%
rename from python/rosie/evaluation/modifiers/world.info
rename to examples/tourguide/world.info
index 6f9c7f49d9..3dd10cb36e 100644
--- a/python/rosie/evaluation/modifiers/world.info
+++ b/examples/tourguide/world.info
@@ -1,4 +1,4 @@
-robot 3 3 0.0
+robot 10 3 0.0
 
 # Building Map with 4 rooms along a single vertical hallway
 
@@ -10,7 +10,7 @@ region 4  12 10.5 0  6  9
 region 5 7.5  3 0  3  6 
 region 6 7.5 10.5 0  3  9 
 
-door 1 5 door 6 3 0 1.9 open
+edge 1 5 door 6 3 0
 edge 3 6 door 6 10.5 0
 edge 2 5 door 9 3 3.14
 edge 4 6 door 9 10.5 3.14
@@ -24,24 +24,19 @@ Cupboard             3.30  0.52  0.00    90   0.80  1.00  0.90               0
 Counter              4.40  0.52  0.91    90   0.80  3.20  0.10               0
 Microwave            4.70  0.32  1.02    90   0.40  0.60  0.40               0
 Drawer               4.50  0.52  0.70    90   0.80  1.00  0.20               0
-Table                1.20  5.48  0.00   270   0.80  1.80  1.00               0
+Table                3.00  5.48  0.00   270   0.80  1.80  1.00               0
 Pantry               5.48  5.00  0.00   180   0.80  1.80  2.00               0
 #Garbage              3.00  5.50  0.00   270   0.40  0.40  0.40   80 150  80  0
 #        on/off region
 LightSwitch on  wp01 5.90  1.90  0.70   180   0.20  0.20  0.20               0
 
+SimObject soda1      0.25  0.50  0.50     0   0.20  0.20  0.40    0   0 255  3 cylinder grabbable color=blue1
 SimObject juice1     0.50  0.50  0.50     0   0.20  0.20  0.40  255 127   0  3 cylinder grabbable color=orange1
 SimObject water1     0.75  0.50  0.50     0   0.20  0.20  0.40  200 200 255  3 cylinder grabbable color=white1
 
-SimObject apple1     0.80  5.30  1.05     0   0.20  0.20  0.20  255   0   0  3 sphere grabbable color=red1
-SimObject soda1      1.60  5.30  1.05     0   0.20  0.20  0.40    0   0 255  3 cylinder grabbable color=blue1
-
-SimObject mug1       3.50  0.55  1.05     0   0.20  0.20  0.20    0 255   0  3 cylinder grabbable color=green1
-SimObject fork1      4.00  0.55  1.05     0   0.10  0.20  0.10   50  50  50  2 grabbable color=gray1
-
-
 Person    person      4.00  2.00  0.90    90                     225 225 225  1 name=mary1
 
+Mug                  5.50  1.00  1.02     0   0.20  0.20  0.20    0 255   0  2 grabbable color=green1 
 
 
 # Room 2: Reception
diff --git a/python/rosie/evaluation/modifiers/Makefile b/examples/watercooler/Makefile
similarity index 83%
rename from python/rosie/evaluation/modifiers/Makefile
rename to examples/watercooler/Makefile
index 5bbd98012a..67386147b8 100644
--- a/python/rosie/evaluation/modifiers/Makefile
+++ b/examples/watercooler/Makefile
@@ -1,12 +1,11 @@
-AGENT_NAME=modifiers
-
+AGENT_NAME=watercooler
 ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
 
 all: world ${ROSIE_CONFIG}
 
 
 # Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
+run_experiment: run_mobile_sim run_rosie
 
 run_mobile_sim: ${AGENT_NAME}.world
 	mkdir -p output
@@ -14,16 +13,16 @@ run_mobile_sim: ${AGENT_NAME}.world
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
+	python3 run_agent.py > output/rosie_output.txt &
 
 run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
+	python3 run_agent.py --test
 	echo "########### DIFF ##########"
 	diff output/test-output.txt correct-output.txt
 
 
-# agent/rosie.modifiers.config: Configures the rosie soar agent that will be sourced to run
+# agent/rosie.watercooler.config: Configures the rosie soar agent that will be sourced to run
 ${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
 	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
 
diff --git a/python/rosie/evaluation/modifiers/fill/agent.config b/examples/watercooler/agent.config
similarity index 98%
rename from python/rosie/evaluation/modifiers/fill/agent.config
rename to examples/watercooler/agent.config
index f7157a9a23..3725a512bc 100644
--- a/python/rosie/evaluation/modifiers/fill/agent.config
+++ b/examples/watercooler/agent.config
@@ -3,7 +3,7 @@
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
 
-agent-name = fill
+agent-name = watercooler
 
 
 ####
@@ -81,6 +81,7 @@ use-script-connector = true
 #   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
 #   If sentence-source = chat, this will create message buttons on the chat panel
 
+# Different per agent
 sentences-file = script.txt
 
 
@@ -133,7 +134,7 @@ custom-smem-file = extra-smem-adds.soar
 spawn-debugger = false
 
 enable-log = true
-log-filename = output/fill.log
+log-filename = agent-output.log
 
 watch-level = 1
 
diff --git a/python/rosie/evaluation/blending2/correct-output.txt b/examples/watercooler/correct-output.txt
similarity index 100%
rename from python/rosie/evaluation/blending2/correct-output.txt
rename to examples/watercooler/correct-output.txt
diff --git a/python/rosie/evaluation/blending2/extra-smem-adds.soar b/examples/watercooler/extra-smem-adds.soar
similarity index 100%
rename from python/rosie/evaluation/blending2/extra-smem-adds.soar
rename to examples/watercooler/extra-smem-adds.soar
diff --git a/python/rosie/evaluation/blending2/extra-soar-rules.soar b/examples/watercooler/extra-soar-rules.soar
similarity index 99%
rename from python/rosie/evaluation/blending2/extra-soar-rules.soar
rename to examples/watercooler/extra-soar-rules.soar
index 07b1b2cb02..63d6d7eb54 100644
--- a/python/rosie/evaluation/blending2/extra-soar-rules.soar
+++ b/examples/watercooler/extra-soar-rules.soar
@@ -139,3 +139,4 @@ sp {search-for-next-subtask*finish*report*time*info
 -->
    (write |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
 }
+
diff --git a/examples/watercooler/run_agent.py b/examples/watercooler/run_agent.py
new file mode 100644
index 0000000000..998c07f731
--- /dev/null
+++ b/examples/watercooler/run_agent.py
@@ -0,0 +1,43 @@
+from tkinter import *
+import tkinter.font
+
+import sys
+import os
+
+from rosie import RosieGUI
+from rosie.testing import TestAgent
+from mobilesim.rosie import MobileSimAgent
+
+def main():
+    # Lookup $ROSIE_HOME
+    rosie_home = ""
+    if "ROSIE_HOME" in os.environ:
+        rosie_home = os.environ["ROSIE_HOME"]
+    else:
+        print("ERROR: Requires ROSIE_HOME environment variable set")
+        return
+
+    AGENT_NAME = "watercooler"
+    agent_dir = rosie_home + "/examples/" + AGENT_NAME
+    rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
+
+    if "--test" in sys.argv:
+        run_test(rosie_config)
+    else:
+        launch_gui(rosie_config, var_num)
+
+def launch_gui(rosie_config):
+    root = Tk()
+    rosie_agent = MobileSimAgent(rosie_config)
+    rosie_agent.messages.append("!CMD cli pc -f")
+    rosie_gui = RosieGUI(rosie_agent, master=root)
+    rosie_gui.run()
+
+def run_test(rosie_config):
+    rosie_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
+            task_test_output_filename='output/test-output.txt', watch_level=0)
+    rosie_agent.run_test('correct-output.txt')
+
+
+main()
+
diff --git a/python/rosie/evaluation/blending2/variations/var2-script.txt b/examples/watercooler/script.txt
similarity index 100%
rename from python/rosie/evaluation/blending2/variations/var2-script.txt
rename to examples/watercooler/script.txt
diff --git a/python/rosie/evaluation/blending2/smem-config.txt b/examples/watercooler/smem-config.txt
similarity index 100%
rename from python/rosie/evaluation/blending2/smem-config.txt
rename to examples/watercooler/smem-config.txt
diff --git a/python/rosie/evaluation/blending2/world.info b/examples/watercooler/world.info
similarity index 100%
rename from python/rosie/evaluation/blending2/world.info
rename to examples/watercooler/world.info
diff --git a/python/rosie/evaluation/.gitignore b/python/rosie/evaluation/.gitignore
deleted file mode 100644
index c21061cec1..0000000000
--- a/python/rosie/evaluation/.gitignore
+++ /dev/null
@@ -1,7 +0,0 @@
-*/*.world
-*/waypoint-map.soar
-*/internal-world.soar
-
-*/agent/*
-*/output/*
-*/__pycache__/*
diff --git a/python/rosie/evaluation/blending1/README b/python/rosie/evaluation/blending1/README
deleted file mode 100644
index 32b5dbc4f7..0000000000
--- a/python/rosie/evaluation/blending1/README
+++ /dev/null
@@ -1,24 +0,0 @@
-formulations evaluations
-Aaron Mininger
-
-These are three evaluations done for my thesis which show ways that different
-task formulations can be compsed and blended together. 
-
-# Prerequisites:
-
-* MobileSim java simulator
-* Soar built with python3 SML library
-* pysoarlib (https://github.com/amininger/pysoarlib) 
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script
-Will do 3 training and 3 testing serve tasks
-
-# Running
-
-# must specify number, either 1, 2, or 3
-$> make run_evaluation NUM=2
-
-
-# Can also run as an automated test
-$> make run_test NUM=1 
diff --git a/python/rosie/evaluation/blending1/agent.config b/python/rosie/evaluation/blending1/agent.config
deleted file mode 100644
index 2c13ed72c3..0000000000
--- a/python/rosie/evaluation/blending1/agent.config
+++ /dev/null
@@ -1,141 +0,0 @@
-####
-# agent-name = <string>
-#   OPTIONAL: default is the name of the config file (minus extension)
-# The name of the agent, used to identify other config files in the directory
-
-agent-name = blending1
-
-
-####
-# agent-dir = <path> (Relative to the directory this file is in)
-#   OPTIONAL: default is the directory this config file is in
-# The directory to create the agent directory in
-
-# agent-dir = 
-
-
-####
-# domain = << magicbot tabletop internal fetch >>
-#   REQUIRED
-# Which domain this agent is operating in (determines how perception/action is handled)
-# Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
-
-# Provided by the code creating the agent
-#domain = magicbot
-
-
-####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-#simulate-perception = true
-
-
-####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
-
-parser = laird
-
-
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-#internal-world-file = internal-world.soar
-
-
-####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
-
-#waypoint-map-file = waypoint-map.soar
-
-
-####
-# sentence-source = << chat scripts >>
-#   OPTIONAL: Default is chat
-# Where new sentences come from (either chat interface or internal automated scripts)
-# Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
-
-sentence-source = chat
-
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-use-script-connector = true
-
-####
-# sentences-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.sentences
-# A file with a list of sentences (one per line) to send to the agent
-#   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
-#   If sentence-source = chat, this will create message buttons on the chat panel
-
-sentences-file = script.txt
-
-
-####
-# world-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.world
-# File containing the description of the world to be used in internal testing
-#   Serves as input into the WorldGenerator java tool
-
-#world-file = example.world
-
-
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
-
-#####
-# extra-rosie-files 
-# One or more full paths relative to $ROSIE_HOME/agent separated by semicolons
-# Will source these files too
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
-####
-# Other Settings
-# Any additional settings here will be put into the autogenerated rosie.config file
-
-spawn-debugger = false
-
-enable-log = true
-log-filename = output/blending1.log
-
-watch-level = 1
-
-reconfig-on-launch = true
-
diff --git a/python/rosie/evaluation/blending1/correct-output.txt b/python/rosie/evaluation/blending1/correct-output.txt
deleted file mode 100644
index 20c77696f0..0000000000
--- a/python/rosie/evaluation/blending1/correct-output.txt
+++ /dev/null
@@ -1,46 +0,0 @@
-R: "I'm ready for a new task"
-I: "Scan."
-> scan1()
-< scan1()
-R: "I'm ready for a new task"
-I: "Move the mug into the pantry."
-> move1(green mug, in1(pantry))
-R: "What is the next goal or subtask of move?"
-I: "Pick up the mug."
-  > pick-up1(green mug)
-    > approach1(green mug)
-    < approach1(green mug)
-  < pick-up1(green mug)
-R: "What is the next goal or subtask of move?"
-I: "Put the mug into the pantry."
-  > put-down1(green mug, in1(pantry))
-    > approach1(pantry)
-    < approach1(pantry)
-  < put-down1(green mug, in1(pantry))
-R: "What is the next goal or subtask of move?"
-I: "You are done."
-< move1(green mug, in1(pantry))
-R: "I'm ready for a new task"
-I: "Move the fork into the drawer."
-> move1(gray fork, in1(drawer))
-  > pick-up1(gray fork)
-    > approach1(gray fork)
-    < approach1(gray fork)
-  < pick-up1(gray fork)
-  > put-down1(gray fork)
-  < put-down1(gray fork)
-  > open1(drawer)
-    > approach1(drawer)
-    < approach1(drawer)
-  < open1(drawer)
-  > pick-up1(gray fork)
-    > approach1(gray fork)
-    < approach1(gray fork)
-  < pick-up1(gray fork)
-  > put-down1(gray fork, in1(drawer))
-    > approach1(drawer)
-    < approach1(drawer)
-  < put-down1(gray fork, in1(drawer))
-< move1(gray fork, in1(drawer))
-R: "I'm ready for a new task"
-I: "!CMD stop"
diff --git a/python/rosie/evaluation/blending1/script.txt b/python/rosie/evaluation/blending1/script.txt
deleted file mode 100644
index a97ef3c6dd..0000000000
--- a/python/rosie/evaluation/blending1/script.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-# This is the script for experiment NUM=1
-
-Scan. 
-
-# Teach move as a procedure
-Move the mug into the pantry.
-Pick up the mug.
-Put the mug into the pantry.
-You are done.
-
-# Test move but with the agent having to plan an extra step of opening the drawer
-Move the fork into the drawer.
-
-
-### END
-!CMD stop
diff --git a/python/rosie/evaluation/blending1/world.info b/python/rosie/evaluation/blending1/world.info
deleted file mode 100644
index 51ebb0506c..0000000000
--- a/python/rosie/evaluation/blending1/world.info
+++ /dev/null
@@ -1,26 +0,0 @@
-robot 4 4 0.0
-
-# Simple Kitchen
-
-# Room 1: Kitchen
-#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
-Fridge               0.60  0.52  0.00    90   0.80  1.00  2.00               0
-Sink                 1.95  0.52  0.50    90   0.80  1.50  0.50               0
-Cupboard             3.30  0.52  0.00    90   0.80  1.00  0.90               0
-Counter              4.05  0.52  0.91    90   0.80  2.50  0.10               0
-Drawer               4.50  0.52  0.70    90   0.80  1.00  0.20               0
-Table                1.00  5.48  0.00   270   0.80  1.80  1.00               0
-Pantry               5.48  5.00  0.00   180   0.80  1.80  2.00               0
-
-SimObject fork1      4.00  0.55  1.02     0   0.10  0.20  0.10   50  50  50  2 grabbable color=gray1
-Mug                  3.50  0.55  1.02     0   0.20  0.20  0.20    0 255   0  2 grabbable color=green1
-
-region 1 3 3 0 6 6 
-
-#wallchain 4
-#  -0.12 -0.12
-#  -0.12  6.12
-#   6.12  6.12
-#   6.12 -0.12
-#  -0.12 -0.12
-#
diff --git a/python/rosie/evaluation/blending2/Makefile b/python/rosie/evaluation/blending2/Makefile
deleted file mode 100644
index 28d06c8c77..0000000000
--- a/python/rosie/evaluation/blending2/Makefile
+++ /dev/null
@@ -1,61 +0,0 @@
-# Can specify the agent variation number (1-3) as NUM=2 (default is 1)
-#  e.g. make run_evaluation NUM=3
-#
-AGENT_NAME=blending2
-ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
-
-all: world ${ROSIE_CONFIG}
-
-
-# Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
-
-run_mobile_sim: ${AGENT_NAME}.world
-	mkdir -p output
-	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
-
-run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} ${NUM} > output/rosie_output.txt &
-
-run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
-	echo "########### DIFF ##########"
-	diff output/test-output.txt correct-output.txt
-
-
-# agent/rosie.blending2.config: Configures the rosie soar agent that will be sourced to run
-${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
-
-
-#### Generating World/Map Files
-
-world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
-
-# ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
-${AGENT_NAME}.world: world.info
-	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
-
-# The internal world used during simulation
-internal-world.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --internal --output-dir .
-
-# The connected waypoint map
-waypoint-map.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --map --output-dir .
-
-
-#### Clean all files
-
-clean:
-	rm -rf agent
-	rm -rf output
-	rm -rf __pycache__
-	rm -f ${AGENT_NAME}.world
-	rm -f waypoint-map.soar
-	rm -f internal-world.soar
-
-
-
diff --git a/python/rosie/evaluation/blending2/README b/python/rosie/evaluation/blending2/README
deleted file mode 100644
index a17f887b58..0000000000
--- a/python/rosie/evaluation/blending2/README
+++ /dev/null
@@ -1,34 +0,0 @@
-evaluation: blending2 
-
-Aaron Mininger
-
-This is the second evaluation for the Diverse Formluations chapter of my thesis
-where we are showing different ways that we can blend procedural and goal-based tasks
-
-In this experiment, we give the agent the task of filling a cup and give it a goal
-   but it may lack action models about how to use the watercooler
-   So it needs to fall back on learning a procedure
-
-# Prerequisites:
-
-* MobileSim java simulator
-* Soar built with python3 SML library
-* pysoarlib (https://github.com/amininger/pysoarlib) 
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script
-Will do 1 training and 4 testing versions
-
-There are three agent variations:
-Agent 1: Complete agent + button action model
-Agent 2: Complete agent with no special action model
-Agent 3: Cannot learn procedural subgoals
-
-# Running
-
-# Give the agent number as an argument, NUM=1/2/3
-$> make run_evaluation NUM=1 
-
-
-# Can also run as an automated test
-$> make run_test NUM=1 
diff --git a/python/rosie/evaluation/blending2/__main__.py b/python/rosie/evaluation/blending2/__main__.py
deleted file mode 100644
index 47c1956257..0000000000
--- a/python/rosie/evaluation/blending2/__main__.py
+++ /dev/null
@@ -1,68 +0,0 @@
-from tkinter import *
-import tkinter.font
-
-import sys
-import os
-
-from rosie import RosieGUI
-from rosie.testing import TestAgent
-from mobilesim.rosie import MobileSimAgent
-
-def launch_gui(rosie_config, var_num):
-    """ var_num is an integer from 1-3 representing the agent variation to use """
-
-    root = Tk()
-    var_script = "variations/var" + str(var_num) + "-script.txt"
-    eval_agent = MobileSimAgent(rosie_config, messages_file=var_script)
-    eval_agent.messages.append("!CMD cli pc -f")
-    eval_gui = RosieGUI(eval_agent, master=root)
-
-    # Source rules specific to the agent variation
-    var_rules = "variations/var" + str(var_num) + "-rules.soar"
-    eval_agent.execute_command("source " + var_rules, print_res=True)
-    
-    eval_gui.run()
-
-# Runs on the normal agent (variation 2)
-def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0, 
-            messages_file="variations/var2-script.txt")
-
-    # Source rules specific to the agent variation
-    eval_agent.execute_command("source variations/var2-rules.soar", print_res=True)
-
-    eval_agent.run_test('correct-output.txt')
-
-def main():
-    # 1 argument - the agent variation number (1-3)
-    var_num = 1
-    if len(sys.argv) == 1:
-        print("rosie.evaluation.blending2 <vnum>")
-        print("   vnum - the agent variation, either 1, 2, or 3")
-    else:
-        try:
-            arg1 = int(sys.argv[1])
-            if arg1 >= 1 and arg1 <= 3:
-                var_num = arg1
-        except:
-            pass
-
-    # Lookup $ROSIE_HOME
-    rosie_home = ""
-    if "ROSIE_HOME" in os.environ:
-        rosie_home = os.environ["ROSIE_HOME"]
-    else:
-        print("ERROR: Requires ROSIE_HOME environment variable set")
-        return
-
-    rosie_config = rosie_home + "/python/rosie/evaluation/blending2/agent/rosie.blending2.config"
-
-    if "--test" in sys.argv:
-        run_test(rosie_config)
-    else:
-        launch_gui(rosie_config, var_num)
-
-if __name__ == "__main__":
-    main()
-
diff --git a/python/rosie/evaluation/blending2/agent.config b/python/rosie/evaluation/blending2/agent.config
deleted file mode 100644
index 6f505e34d1..0000000000
--- a/python/rosie/evaluation/blending2/agent.config
+++ /dev/null
@@ -1,144 +0,0 @@
-####
-# agent-name = <string>
-#   OPTIONAL: default is the name of the config file (minus extension)
-# The name of the agent, used to identify other config files in the directory
-
-agent-name = blending2
-
-
-####
-# agent-dir = <path> (Relative to the directory this file is in)
-#   OPTIONAL: default is the directory this config file is in
-# The directory to create the agent directory in
-
-# agent-dir = 
-
-
-####
-# domain = << magicbot tabletop internal fetch >>
-#   REQUIRED
-# Which domain this agent is operating in (determines how perception/action is handled)
-# Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
-
-# Provided by the code creating the agent
-#domain = magicbot
-
-
-####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-#simulate-perception = true
-
-
-####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
-
-parser = laird
-
-
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-#internal-world-file = internal-world.soar
-
-
-####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
-
-#waypoint-map-file = waypoint-map.soar
-
-
-####
-# sentence-source = << chat scripts >>
-#   OPTIONAL: Default is chat
-# Where new sentences come from (either chat interface or internal automated scripts)
-# Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
-
-sentence-source = chat
-
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-use-script-connector = true
-
-####
-# sentences-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.sentences
-# A file with a list of sentences (one per line) to send to the agent
-#   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
-#   If sentence-source = chat, this will create message buttons on the chat panel
-
-# Different per agent
-#sentences-file = script.txt
-#sentences-file = variations/var2-script.txt
-
-
-####
-# world-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.world
-# File containing the description of the world to be used in internal testing
-#   Serves as input into the WorldGenerator java tool
-
-#world-file = example.world
-
-
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
-
-#####
-# extra-rosie-files 
-# One or more full paths relative to $ROSIE_HOME/agent separated by semicolons
-# Will source these files too
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
-####
-# Other Settings
-# Any additional settings here will be put into the autogenerated rosie.config file
-
-spawn-debugger = false
-
-enable-log = true
-log-filename = output/blending2.log
-
-watch-level = 1
-
-reconfig-on-launch = true
-
-find-help = script
diff --git a/python/rosie/evaluation/blending2/variations/var1-rules.soar b/python/rosie/evaluation/blending2/variations/var1-rules.soar
deleted file mode 100644
index 72e6912618..0000000000
--- a/python/rosie/evaluation/blending2/variations/var1-rules.soar
+++ /dev/null
@@ -1,24 +0,0 @@
-
-### VARIATION 1:
-# Contains an action model for what the button on the watercooler does (dispenses water)
-
-sp {problem-space*action*internal*apply*op_press1*watercooler*button
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <o>
-              ^world.predicates.predicate <in-pred>)
-   (<o> ^name op_press1
-        ^arg1.id <button>)
-   (<in-pred> ^handle in1
-              ^instance <ins1> <ins2>)
-   (<ins1> ^1 <button> ^2 <cooler>)
-   (<ins2> ^1 <vessel> ^2 <cooler>)
-   (<cooler> ^root-category cooler1)
-   (<vessel> ^predicates <vpreds>)
-   (<vpreds> ^affordance1 fillable1
-             ^contents1 empty1)
--->
-   (<vpreds> ^contents1 empty1 -
-             ^contents1 water1)
-}
-
diff --git a/python/rosie/evaluation/blending2/variations/var1-script.txt b/python/rosie/evaluation/blending2/variations/var1-script.txt
deleted file mode 100644
index 52011ac8d3..0000000000
--- a/python/rosie/evaluation/blending2/variations/var1-script.txt
+++ /dev/null
@@ -1,55 +0,0 @@
-### Task 1: Training
-
-# Setup
-Scan.
-
-# Task
-Fill the green mug with water.
-The only goal is that the green mug contains water. 
-Pick up the green mug.
-
-
-### Task 2: Identical
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-Put the green mug onto the counter.
-
-# Task
-Fill the green mug with water. 
-
-
-### Task 3: Already holding the mug
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-
-# Task
-Fill the green mug with water. 
-
-
-### Task 4: Using an unseen mug
-
-# Setup
-Pick up the green mug.
-Put the green mug onto the counter.
-
-# Task
-Fill the blue mug with water.
-!FIND_HELP The blue mug is in the cupboard.
-
-
-### Task 5: Using milk instead
-
-# Setup
-Pick up the blue mug.
-Put the blue mug onto the counter.
-
-# Task
-Fill the cup with milk.
-
-
-### END
-!CMD stop
diff --git a/python/rosie/evaluation/blending2/variations/var2-rules.soar b/python/rosie/evaluation/blending2/variations/var2-rules.soar
deleted file mode 100644
index 12f0b27ec0..0000000000
--- a/python/rosie/evaluation/blending2/variations/var2-rules.soar
+++ /dev/null
@@ -1,5 +0,0 @@
-
-### VARIATION 2:
-# Normal agent, but it does not have a model of the button
-
-
diff --git a/python/rosie/evaluation/blending2/variations/var3-rules.soar b/python/rosie/evaluation/blending2/variations/var3-rules.soar
deleted file mode 100644
index 3a4e611f81..0000000000
--- a/python/rosie/evaluation/blending2/variations/var3-rules.soar
+++ /dev/null
@@ -1,14 +0,0 @@
-
-### VARIATION 3:
-# No button model, and cannot learn procedural subgoals when EBL fails
-
-
-# This rule will abort the retrospective learning if one of the learning trials failed
-sp {retrospective-learning*propose*complete-retrospective-learning*failure
-   (state <s> ^name retrospective-learning
-              ^policy-learning-result failure)
--->
-   (<s> ^operator <o> + !)
-   (<o> ^name complete-retrospective-learning)
-}
-
diff --git a/python/rosie/evaluation/blending2/variations/var3-script.txt b/python/rosie/evaluation/blending2/variations/var3-script.txt
deleted file mode 100644
index 53560961d5..0000000000
--- a/python/rosie/evaluation/blending2/variations/var3-script.txt
+++ /dev/null
@@ -1,67 +0,0 @@
-### Task 1: Training
-
-# Setup
-Scan.
-
-# Task
-Fill the green mug with water.
-The only goal is that the green mug contains water. 
-Pick up the green mug.
-Put the green mug into the watercooler.
-Press the blue button on the watercooler.
-
-
-### Task 2: Identical
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-Put the green mug onto the counter.
-
-# Task
-Fill the green mug with water. 
-Pick up the green mug.
-Put the green mug into the watercooler.
-Press the blue button on the watercooler.
-
-
-### Task 3: Already holding the mug
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-
-# Task
-Fill the green mug with water. 
-Put the green mug into the watercooler.
-Press the blue button on the watercooler.
-
-
-### Task 4: Using an unseen mug
-
-# Setup
-Pick up the green mug.
-Put the green mug onto the counter.
-
-# Task
-Fill the blue mug with water.
-Find the blue mug.
-!FIND_HELP The blue mug is in the cupboard.
-Pick up the blue mug.
-Put the blue mug into the watercooler.
-Press the blue button on the watercooler.
-
-
-### Task 5: Using milk instead
-
-# Setup
-Pick up the blue mug.
-Put the blue mug onto the counter.
-
-# Task
-Fill the cup with milk.
-
-
-### END
-!CMD stop
-
diff --git a/python/rosie/evaluation/blending3/Makefile b/python/rosie/evaluation/blending3/Makefile
deleted file mode 100644
index 324c7cbcc8..0000000000
--- a/python/rosie/evaluation/blending3/Makefile
+++ /dev/null
@@ -1,59 +0,0 @@
-AGENT_NAME=blending3
-
-ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
-
-all: world ${ROSIE_CONFIG}
-
-
-# Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
-
-run_mobile_sim: ${AGENT_NAME}.world
-	mkdir -p output
-	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
-
-run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
-
-run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
-	echo "########### DIFF ##########"
-	diff output/test-output.txt correct-output.txt
-
-
-# agent/rosie.blending3.config: Configures the rosie soar agent that will be sourced to run
-${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
-
-
-#### Generating World/Map Files
-
-world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
-
-# ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
-${AGENT_NAME}.world: world.info
-	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
-
-# The internal world used during simulation
-internal-world.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --internal --output-dir .
-
-# The connected waypoint map
-waypoint-map.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --map --output-dir .
-
-
-#### Clean all files
-
-clean:
-	rm -rf agent
-	rm -rf output
-	rm -rf __pycache__
-	rm -f ${AGENT_NAME}.world
-	rm -f waypoint-map.soar
-	rm -f internal-world.soar
-
-
-
diff --git a/python/rosie/evaluation/blending3/README b/python/rosie/evaluation/blending3/README
deleted file mode 100644
index 5c933af9d3..0000000000
--- a/python/rosie/evaluation/blending3/README
+++ /dev/null
@@ -1,32 +0,0 @@
-evaluation: blending3
-
-Aaron Mininger
-
-This is the third evaluation for the Diverse Formluations chapter of my thesis
-where we are showing that you can compose different formulations 
-together within the same task and hierarchically
-
-In this experiment, we teach the task of giving a tour, which has a number of different tasks within:
-- goal-based task (serve drink)
-- procedural task (give tour)
-- composite task (saying multiple things in the lab)
-- maintenance task (following the person)
-
-# Prerequisites:
-
-* MobileSim java simulator
-* Soar built with python3 SML library
-* pysoarlib (https://github.com/amininger/pysoarlib) 
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script
-Will do 1 training and 1 testing task
-
-# Running
-
-$> make run_evaluation
-
-
-# Can also run as an automated test
-$> make run_test
-
diff --git a/python/rosie/evaluation/blending3/__main__.py b/python/rosie/evaluation/blending3/__main__.py
deleted file mode 100644
index 25e9bd6818..0000000000
--- a/python/rosie/evaluation/blending3/__main__.py
+++ /dev/null
@@ -1,42 +0,0 @@
-from tkinter import *
-import tkinter.font
-
-import sys
-import os
-
-from pysoarlib import AgentConnector
-from rosie import RosieGUI
-from rosie.testing import TestAgent
-from mobilesim.rosie import MobileSimAgent
-
-
-def launch_gui(rosie_config):
-    root = Tk()
-    eval_agent = MobileSimAgent(rosie_config)
-    eval_agent.messages.append("!CMD cli pc -f")
-    eval_gui = RosieGUI(eval_agent, master=root)
-    eval_gui.run()
-
-def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0, messages_file="script_internal.txt")
-    eval_agent.run_test('correct-output.txt')
-
-def main():
-    # Lookup $ROSIE_HOME
-    if "ROSIE_HOME" in os.environ:
-        rosie_home = os.environ["ROSIE_HOME"]
-    else:
-        print("ERROR: Requires ROSIE_HOME environment variable set")
-        return
-
-    AGENT_NAME = "blending3"
-    rosie_config = rosie_home + "/python/rosie/evaluation/" + AGENT_NAME + "/agent/rosie." + AGENT_NAME + ".config"
-
-    if "--test" in sys.argv:
-        run_test(rosie_config)
-    else:
-        launch_gui(rosie_config)
-
-if __name__ == "__main__":
-    main()
diff --git a/python/rosie/evaluation/find-test/Makefile b/python/rosie/evaluation/find-test/Makefile
deleted file mode 100644
index f4be90ce91..0000000000
--- a/python/rosie/evaluation/find-test/Makefile
+++ /dev/null
@@ -1,59 +0,0 @@
-AGENT_NAME=find-test
-
-ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
-
-all: world ${ROSIE_CONFIG}
-
-
-# Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
-
-run_mobile_sim: ${AGENT_NAME}.world
-	mkdir -p output
-	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
-
-run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
-
-run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
-	echo "########### DIFF ##########"
-	diff output/test-output.txt correct-output.txt
-
-
-# agent/rosie.find-test.config: Configures the rosie soar agent that will be sourced to run
-${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
-
-
-#### Generating World/Map Files
-
-world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
-
-# ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
-${AGENT_NAME}.world: world.info
-	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
-
-# The internal world used during simulation
-internal-world.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --internal --output-dir .
-
-# The connected waypoint map
-waypoint-map.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --map --output-dir .
-
-
-#### Clean all files
-
-clean:
-	rm -rf agent
-	rm -rf output
-	rm -rf __pycache__
-	rm -f ${AGENT_NAME}.world
-	rm -f waypoint-map.soar
-	rm -f internal-world.soar
-
-
-
diff --git a/python/rosie/evaluation/find-test/README b/python/rosie/evaluation/find-test/README
deleted file mode 100644
index b4938ff44d..0000000000
--- a/python/rosie/evaluation/find-test/README
+++ /dev/null
@@ -1,23 +0,0 @@
-find-test evaluation
-Aaron Mininger
-
-This evaluation is more of a test of the agent's ability to find objects in a multi-room environment. 
-
-# Prerequisites: 
-
-* MobileSim java simulator
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script -- script.txt
-Will do a series of find requests (will take a couple minutes)
-
-# Running
-
-$> make run_evaluation
-
-
-# Can also run an internal test
-
-$> make run_test
-
-
diff --git a/python/rosie/evaluation/interior-guard/interior-guard.world b/python/rosie/evaluation/interior-guard/interior-guard.world
deleted file mode 100644
index edffa4738a..0000000000
--- a/python/rosie/evaluation/interior-guard/interior-guard.world
+++ /dev/null
@@ -1,1451 +0,0 @@
-"soargroup.mobilesim.sim.SimRobot"
-{
-  # Robot ID
-  6
-  # XYZRPY Truth
-  vec 6
-    5.50  12.50   0.10   0.00   0.00   0.00
-  # XYZRPY Odometry
-  vec 6
-    0.00   0.00   0.00   0.00   0.00   0.00
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-    2.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-    6.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-   10.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-   14.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-   18.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-   22.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  bunk
-  # Object xyz
-  vec 3
-   26.50  18.75   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    130 130 130
-  # Properties
-  3
-    custom-model
-    color=gray1
-    category=bunk1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-    4.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-    8.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-   12.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-   16.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-   20.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-   24.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  shelf
-  # Object xyz
-  vec 3
-   28.50  19.50   1.00
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.50   2.00   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 100
-  # Properties
-  3
-    custom-model
-    color=blue1
-    category=shelf1
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  mercer
-  # Object xyz
-  vec 3
-   16.00  16.50   0.95
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    0 0 100
-  # Properties
-  2
-    name=mercer1
-    category=officer1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  table
-  # Object xyz
-  vec 3
-    7.00  11.50   0.45
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    0.90   1.90   0.90
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  3
-    category=table1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  desk
-  # Object xyz
-  vec 3
-    2.00  12.00   0.45
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.90   1.90   0.90
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  3
-    category=desk1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  chair
-  # Object xyz
-  vec 3
-    1.00  12.25   0.50
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.50   0.50   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    20 100 20
-  # Properties
-  3
-    custom-model
-    color=green1
-    category=chair1
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  co
-  # Object xyz
-  vec 3
-    6.80  12.50   0.95
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    0 0 100
-  # Properties
-  3
-    name=co1
-    modifier1=commanding1
-    category=officer1
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  sentry
-  # Object xyz
-  vec 3
-   29.00  12.50   0.95
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    125 100 50
-  # Properties
-  1
-    category=sentry1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  table
-  # Object xyz
-  vec 3
-   29.00  11.50   0.45
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    0.90   1.90   0.90
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  4
-    color=brown1
-    category=table1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  radio
-  # Object xyz
-  vec 3
-   28.50  11.50   1.04
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    50 50 50
-  # Properties
-  2
-    color=black1
-    category=radio1
-}
-"soargroup.mobilesim.sim.SimAlarm"
-{
-  # Object Description
-  Alarm
-  # Object xyz
-  vec 3
-   22.05  10.88   0.50
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.25   0.50   0.50
-  # Color rgb (int 0-255)
-  ivec 3
-    255 0 0
-  # Properties
-  3
-    color=red1
-    category=alarm1
-    is-activated1=not-activated1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  table
-  # Object xyz
-  vec 3
-   11.50  10.00   0.25
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.50   4.00   0.50
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  4
-    color=brown1
-    category=table1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.SimFridge"
-{
-  # Object Description
-  fridge
-  # Object xyz
-  vec 3
-   17.75  12.38   1.01
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.75   1.50   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    200 200 200
-  # Properties
-  2
-    category=fridge1
-    is-open1=not-open1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  counter
-  # Object xyz
-  vec 3
-   19.25  11.00   0.38
-  # Rotation (yaw)
-  3.141592653589793
-  # Scale xyz
-  vec 3
-    1.00   2.00   0.75
-  # Color rgb (int 0-255)
-  ivec 3
-    250 230 140
-  # Properties
-  3
-    category=counter1
-    box
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  sink
-  # Object xyz
-  vec 3
-   19.25   9.12   0.62
-  # Rotation (yaw)
-  3.141592653589793
-  # Scale xyz
-  vec 3
-    1.00   1.73   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    150 150 150
-  # Properties
-  4
-    category=sink1
-    openbox
-    receptacle
-    drain
-}
-"soargroup.mobilesim.sim.SimStove"
-{
-  # Object Description
-  stove
-  # Object xyz
-  vec 3
-   18.00   7.75   0.38
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    1.00   1.50   0.75
-  # Color rgb (int 0-255)
-  ivec 3
-    200 200 200
-  # Properties
-  2
-    category=stove1
-    is-activated1=not-activated1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  garbage
-  # Object xyz
-  vec 3
-   16.50   7.50   0.31
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    0.50   1.00   0.60
-  # Color rgb (int 0-255)
-  ivec 3
-    80 150 80
-  # Properties
-  3
-    category=garbage1
-    openbox
-    receptacle
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  plate
-  # Object xyz
-  vec 3
-   12.00  11.00   0.54
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.05
-  # Color rgb (int 0-255)
-  ivec 3
-    225 225 225
-  # Properties
-  3
-    cylinder
-    color=white1
-    category=plate1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  ketchup
-  # Object xyz
-  vec 3
-   12.00  10.00   0.73
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.20   0.20   0.45
-  # Color rgb (int 0-255)
-  ivec 3
-    255 0 0
-  # Properties
-  3
-    cylinder
-    color=red1
-    category=ketchup1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  mustard
-  # Object xyz
-  vec 3
-   17.50   4.00   0.73
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.20   0.20   0.45
-  # Color rgb (int 0-255)
-  ivec 3
-    150 150 0
-  # Properties
-  3
-    cylinder
-    color=yellow1
-    category=mustard1
-}
-"soargroup.mobilesim.sim.BoxObject"
-{
-  # Object xyz
-  vec 3
-   19.25   7.75   0.38
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   1.00   0.75
-  # Color rgb (int 0-255)
-  ivec 3
-    250 230 140
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  sentry
-  # Object xyz
-  vec 3
-    1.00   7.50   0.95
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    125 100 50
-  # Properties
-  1
-    category=sentry1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  table
-  # Object xyz
-  vec 3
-    1.00   8.50   0.45
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    0.90   1.90   0.90
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  4
-    color=brown1
-    category=table1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  radio
-  # Object xyz
-  vec 3
-    1.50   8.50   1.04
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    50 50 50
-  # Properties
-  2
-    color=black1
-    category=radio1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  extinguisher
-  # Object xyz
-  vec 3
-   23.00  14.25   0.25
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.30   0.30   0.50
-  # Color rgb (int 0-255)
-  ivec 3
-    255 0 0
-  # Properties
-  4
-    custom-model
-    shape=cylinder1
-    color=red1
-    category=extinguisher1
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  dispatcher
-  # Object xyz
-  vec 3
-   12.00   4.00   0.95
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 100 50
-  # Properties
-  1
-    category=dispatcher1
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  sentry
-  # Object xyz
-  vec 3
-    7.00   4.00   0.95
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    125 100 50
-  # Properties
-  1
-    category=sentry1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  table
-  # Object xyz
-  vec 3
-    1.00   2.50   0.25
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   4.00   0.50
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  3
-    category=table1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  table
-  # Object xyz
-  vec 3
-   14.00   2.50   0.25
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   4.00   0.50
-  # Color rgb (int 0-255)
-  ivec 3
-    94 76 28
-  # Properties
-  3
-    category=table1
-    custom-model
-    surface
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  cabinet
-  # Object xyz
-  vec 3
-   12.00   0.50   1.00
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    2.00   0.50   2.00
-  # Color rgb (int 0-255)
-  ivec 3
-    25 25 25
-  # Properties
-  2
-    color=black1
-    category=cabinet1
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  truck
-  # Object xyz
-  vec 3
-    4.00   2.00   0.50
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    3.00   1.50   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    0 100 0
-  # Properties
-  4
-    custom-model
-    color=green1
-    is-locked1=not-locked1
-    category=truck1
-}
-"soargroup.mobilesim.sim.SimLightSwitch"
-{
-  # Object Description
-  LS
-  # Object xyz
-  vec 3
-   10.50  15.12   0.62
-  # Rotation (yaw)
-  1.5707963267948966
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    255 255 255
-  # Properties
-  2
-    category=lightswitch1
-    is-activated1=activated1
-    wp01
-}
-"soargroup.mobilesim.sim.SimLightSwitch"
-{
-  # Object Description
-  LS
-  # Object xyz
-  vec 3
-    7.88  12.50   0.62
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    255 255 255
-  # Properties
-  2
-    category=lightswitch1
-    is-activated1=activated1
-    wp02
-}
-"soargroup.mobilesim.sim.SimLightSwitch"
-{
-  # Object Description
-  LS
-  # Object xyz
-  vec 3
-   22.12  11.50   0.62
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    255 255 255
-  # Properties
-  2
-    category=lightswitch1
-    is-activated1=activated1
-    wp03
-}
-"soargroup.mobilesim.sim.SimLightSwitch"
-{
-  # Object Description
-  LS
-  # Object xyz
-  vec 3
-   13.50  12.88   0.62
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    255 255 255
-  # Properties
-  2
-    category=lightswitch1
-    is-activated1=not-activated1
-    wp04
-}
-"soargroup.mobilesim.sim.SimLightSwitch"
-{
-  # Object Description
-  LS
-  # Object xyz
-  vec 3
-    7.88   8.50   0.62
-  # Rotation (yaw)
-  3.141592653589793
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    255 255 255
-  # Properties
-  2
-    category=lightswitch1
-    is-activated1=activated1
-    wp06
-}
-"soargroup.mobilesim.sim.SimLightSwitch"
-{
-  # Object Description
-  LS
-  # Object xyz
-  vec 3
-    7.50   4.88   0.62
-  # Rotation (yaw)
-  4.71238898038469
-  # Scale xyz
-  vec 3
-    0.25   0.25   0.25
-  # Color rgb (int 0-255)
-  ivec 3
-    255 255 255
-  # Properties
-  2
-    category=lightswitch1
-    is-activated1=activated1
-    wp08
-}
-"soargroup.mobilesim.sim.RosieSimObject"
-{
-  # Object Description
-  fire
-  # Object xyz
-  vec 3
-   25.00   4.00   0.50
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    255 0 0
-  # Properties
-  3
-    cone
-    color=red1
-    category=fire1
-}
-"soargroup.mobilesim.sim.SimPerson"
-{
-  # Object Description
-  williams
-  # Object xyz
-  vec 3
-   17.00  16.50   0.95
-  # Rotation (yaw)
-  0.0
-  # Scale xyz
-  vec 3
-    1.00   1.00   1.00
-  # Color rgb (int 0-255)
-  ivec 3
-    0 0 100
-  # Properties
-  2
-    name=williams1
-    category=officer1
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    0.00   0.00
-  # End Point 2
-  vec 2
-    0.00  20.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    0.00  20.00
-  # End Point 2
-  vec 2
-   30.00  20.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   30.00  20.00
-  # End Point 2
-  vec 2
-   30.00   0.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   30.00   0.00
-  # End Point 2
-  vec 2
-    0.00   0.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    0.00  15.00
-  # End Point 2
-  vec 2
-    8.00  15.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   10.00  15.00
-  # End Point 2
-  vec 2
-   20.00  15.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   22.00  15.00
-  # End Point 2
-  vec 2
-   30.00  15.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   10.00  13.00
-  # End Point 2
-  vec 2
-   14.00  13.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   16.00  13.00
-  # End Point 2
-  vec 2
-   20.00  13.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   20.00  13.00
-  # End Point 2
-  vec 2
-   20.00   7.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   20.00   7.00
-  # End Point 2
-  vec 2
-   16.00   7.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   14.00   7.00
-  # End Point 2
-  vec 2
-   10.00   7.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   10.00   7.00
-  # End Point 2
-  vec 2
-   10.00  13.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    0.00  11.00
-  # End Point 2
-  vec 2
-    8.00  11.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   22.00   9.00
-  # End Point 2
-  vec 2
-   30.00   9.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    8.00   5.00
-  # End Point 2
-  vec 2
-    8.00   9.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    8.00  11.00
-  # End Point 2
-  vec 2
-    8.00  13.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   22.00   7.00
-  # End Point 2
-  vec 2
-   22.00   9.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   22.00  11.00
-  # End Point 2
-  vec 2
-   22.00  15.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   16.00   0.00
-  # End Point 2
-  vec 2
-   16.00   5.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-    0.00   5.00
-  # End Point 2
-  vec 2
-    8.00   5.00
-}
-"soargroup.mobilesim.sim.SimRoomWall"
-{
-  # End Point 1
-  vec 2
-   10.00   5.00
-  # End Point 2
-  vec 2
-   30.00   5.00
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp01
-  # Tag Position
-  vec 6
-   15.00  16.50   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  30.0
-  3.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp02
-  # Tag Position
-  vec 6
-    4.00  13.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  8.0
-  4.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp03
-  # Tag Position
-  vec 6
-   26.00  13.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  8.0
-  4.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp04
-  # Tag Position
-  vec 6
-   15.00  10.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  10.0
-  6.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp06
-  # Tag Position
-  vec 6
-    4.00   7.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  8.0
-  4.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp07
-  # Tag Position
-  vec 6
-   26.00   6.50   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  8.0
-  3.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp08
-  # Tag Position
-  vec 6
-    8.00   2.50   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  16.0
-  5.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp09
-  # Tag Position
-  vec 6
-   23.00   2.50   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  14.0
-  5.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp10
-  # Tag Position
-  vec 6
-    9.00  10.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  2.0
-  6.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp11
-  # Tag Position
-  vec 6
-    9.00  14.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  2.0
-  2.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp12
-  # Tag Position
-  vec 6
-   15.00  14.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  10.0
-  2.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp13
-  # Tag Position
-  vec 6
-   21.00  14.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  2.0
-  2.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp14
-  # Tag Position
-  vec 6
-   21.00  10.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  2.0
-  6.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp15
-  # Tag Position
-  vec 6
-   21.00   6.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  2.0
-  2.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp16
-  # Tag Position
-  vec 6
-   15.00   6.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  10.0
-  2.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp17
-  # Tag Position
-  vec 6
-    9.00   6.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  2.0
-  2.0
-}
-"soargroup.mobilesim.sim.SimRegion"
-{
-  # Region ID
-  wp18
-  # Tag Position
-  vec 6
-   26.00  10.00   0.01   0.00   0.00   0.00
-  # Width (dx) and Length (dy)
-  8.0
-  2.0
-}
diff --git a/python/rosie/evaluation/modifiers/README b/python/rosie/evaluation/modifiers/README
deleted file mode 100644
index aaee63d1be..0000000000
--- a/python/rosie/evaluation/modifiers/README
+++ /dev/null
@@ -1,23 +0,0 @@
-evaluation: modifiers
-
-Aaron Mininger
-
-This is an evaluation used to test the abiliy of Rosie to learn tasks with temporal modifiers
-
-# Prerequisites:
-
-* MobileSim java simulator
-* Soar built with python3 SML library
-* pysoarlib (https://github.com/amininger/pysoarlib) 
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script
-Will do 1 training and 1 testing task
-
-# Running
-
-$> make run_evaluation
-
-# Can also run as an automated test
-$> make run_test
-
diff --git a/python/rosie/evaluation/modifiers/agent.config b/python/rosie/evaluation/modifiers/agent.config
deleted file mode 100644
index d1189a92ec..0000000000
--- a/python/rosie/evaluation/modifiers/agent.config
+++ /dev/null
@@ -1,131 +0,0 @@
-####
-# agent-name = <string>
-#   OPTIONAL: default is the name of the config file (minus extension)
-# The name of the agent, used to identify other config files in the directory
-
-agent-name = modifiers
-
-
-####
-# agent-dir = <path> (Relative to the directory this file is in)
-#   OPTIONAL: default is the directory this config file is in
-# The directory to create the agent directory in
-
-# agent-dir = 
-
-
-####
-# domain = << magicbot tabletop internal fetch >>
-#   REQUIRED
-# Which domain this agent is operating in (determines how perception/action is handled)
-# Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
-
-# Provided by the code creating the agent
-#domain = magicbot
-
-
-####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-#simulate-perception = true
-
-
-####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
-
-parser = laird
-
-
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-#internal-world-file = internal-world.soar
-
-
-####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
-
-#waypoint-map-file = waypoint-map.soar
-
-
-####
-# sentence-source = << chat scripts >>
-#   OPTIONAL: Default is chat
-# Where new sentences come from (either chat interface or internal automated scripts)
-# Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
-
-sentence-source = chat
-
-
-####
-# sentences-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.sentences
-# A file with a list of sentences (one per line) to send to the agent
-#   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
-#   If sentence-source = chat, this will create message buttons on the chat panel
-
-sentences-file = script.txt
-
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-#use-script-connector = true
-
-
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
-
-
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
-####
-# Other Settings
-# Any additional settings here will be put into the autogenerated rosie.config file
-
-spawn-debugger = false
-
-enable-log = true
-log-filename = output/modifiers.log
-
-watch-level = 1
-
-reconfig-on-launch = true
-
-find-help = script
diff --git a/python/rosie/evaluation/modifiers/extra-soar-rules.soar b/python/rosie/evaluation/modifiers/extra-soar-rules.soar
deleted file mode 100644
index 0bb11bbfae..0000000000
--- a/python/rosie/evaluation/modifiers/extra-soar-rules.soar
+++ /dev/null
@@ -1,145 +0,0 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-        ^report-find-results true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-        ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-        ^print-perception true
-#       ^print-new-task true
-        ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-        ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-
-   )
-}
-
-source waypoint-map.soar
-source internal-world.soar
-
-#### Increase the search depth over the default
-#sp {search-for-next-subtask*elaborate*search-phase-info
-#   (state <s> ^name search-for-next-subtask)
-#-->
-#   (<s> ^number-phases 2
-#        ^search-phase-info <p1> <p2>)
-#   # First phase - only consider subtasks with all objects in common with the current task
-#   (<p1> ^num 1 ^max-depth 4 ^require-all-objects-match 1 ^reject-perc-ops 3)
-#
-#   # Second phase - level 1: any subtasks, level 2: subtasks with 1+ matching objects, 
-#   #                level 3-4: only subtasks matching all objects
-#   (<p2> ^num 2 ^max-depth 4 ^require-matching-object 3 ^require-all-objects-match 4 ^reject-perc-ops 3)
-#}
-
-#explain all on
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
-   (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-}
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*magicbot
-   (state <s> ^superstate nil
-              ^agent-params.domain magicbot
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   # Extract predicates via SVS
-   (<pred-mon> ^predicate-info.predicate-handle in1)
-   (<pred-mon> ^predicate-info.predicate-handle on1)
-
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-}
-
-sp {subproblem*execute*propose*report-start-clause
-   (state <s> ^problem-space.subproblem execute
-              ^desired.item-type start-goal
-              ^task-operator.start-clause <cl>
-             -^satisfied <cl>
-              ^current-task-segment <seg>)
-   (<cl> ^<pnum>.type << unary relation >>)
-   (<seg> -^reported-start-clause)
--->
-   (<s> ^operator <o> + =)
-   (<o> ^name report-start-clause)
-}
-
-sp {subproblem*execute*apply*report-start-clause
-   (state <s> ^problem-space.subproblem execute
-              ^operator.name report-start-clause
-              ^task-operator.task-handle <task-h>
-              ^current-task-segment <seg>
-              ^io.output-link <out>)
--->
-   (<out> ^send-message <msg>)
-   (<msg> ^type report-start-clause
-          ^fields.task-handle <task-h>)
-
-   (<seg> ^reported-start-clause true)
-}
-
-#
-### Rules for printing events
-sp {complete-push-task-segment*report*time*info
-   (state <s> ^name push-task-segment
-              ^operator.name complete-push-task-segment
-              ^segment-to-push.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$START-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {complete-pop-task-segment*report*time*info
-   (state <s> ^name pop-task-segment
-              ^operator.name complete-pop-task-segment
-              ^segment-to-pop.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$END-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {search-for-next-subtask*start*report*time*info
-   (state <s> ^operator.name search-for-next-subtask
-              ^superstate.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>
-             -^reported-time)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$BEGIN-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-   (<s> ^reported-time true)
-}
-
-sp {search-for-next-subtask*finish*report*time*info
-   (state <s> ^name search-for-next-subtask
-              ^superstate.superstate.task-operator.task-handle <task-h>
-              ^operator.name << return-successful-operator initiate-interaction >>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-}
diff --git a/python/rosie/evaluation/modifiers/fill/.gitignore b/python/rosie/evaluation/modifiers/fill/.gitignore
deleted file mode 100644
index 41a9c1dd3c..0000000000
--- a/python/rosie/evaluation/modifiers/fill/.gitignore
+++ /dev/null
@@ -1,10 +0,0 @@
-agent/*
-__pycache__/*
-output/*
-
-waypoint-map.soar
-internal-world.soar
-*.world
-
-
-
diff --git a/python/rosie/evaluation/modifiers/fill/README b/python/rosie/evaluation/modifiers/fill/README
deleted file mode 100644
index cb97e0579a..0000000000
--- a/python/rosie/evaluation/modifiers/fill/README
+++ /dev/null
@@ -1,26 +0,0 @@
-evaluation: modifiers/fill 
-
-Aaron Mininger
-
-This is a variation on the fill task from blending2, 
-where the goal is to fill a cup with water using a water cooler. 
-Here, we use an until clause on the press action to act like an action model
-and allow the agent to learn a complete policy, even though 
-it has no innate action model for the button. 
-
-# Prerequisites:
-
-* MobileSim java simulator
-* Soar built with python3 SML library
-* pysoarlib (https://github.com/amininger/pysoarlib) 
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script
-Will do 1 training and 4 testing versions
-
-# Running
-
-$> make run_evaluation
-
-# Can also run as an automated test
-$> make run_test
diff --git a/python/rosie/evaluation/modifiers/fill/correct-output.txt b/python/rosie/evaluation/modifiers/fill/correct-output.txt
deleted file mode 100644
index 7019c7ca86..0000000000
--- a/python/rosie/evaluation/modifiers/fill/correct-output.txt
+++ /dev/null
@@ -1,150 +0,0 @@
-R: "I'm ready for a new task"
-I: "Scan."
-> scan1()
-< scan1()
-R: "I'm ready for a new task"
-I: "Fill the green mug with water."
-> fill1(green mug, with1(water))
-R: "What is the next goal or subtask of fill?"
-I: "The only goal is that the green mug contains water."
-R: "What do I do next for fill?"
-I: "Pick up the green mug."
-  > pick-up1(green mug)
-    > approach1(green mug)
-    < approach1(green mug)
-  < pick-up1(green mug)
-R: "What do I do next for fill?"
-I: "Put the green mug into the watercooler."
-  > put-down1(green mug, in1(cooler))
-    > approach1(cooler)
-    < approach1(cooler)
-  < put-down1(green mug, in1(cooler))
-R: "What do I do next for fill?"
-I: "If the drink is water and the green mug is in the watercooler then press the blue button on the watercooler until the green mug contains water."
-  > press1(blue button, end{ contains1(green mug, water) })
-    > approach1(blue button)
-    < approach1(blue button)
-  < press1(blue button, end{ contains1(green mug, water) })
-< fill1(green mug, with1(water))
-R: "I'm ready for a new task"
-I: "Pick up the green mug."
-> pick-up1(green mug)
-  > approach1(green mug)
-  < approach1(green mug)
-< pick-up1(green mug)
-R: "I'm ready for a new task"
-I: "Pour the green mug into the sink."
-> pour1(green mug, in1(sink))
-  > approach1(sink)
-  < approach1(sink)
-< pour1(green mug, in1(sink))
-R: "I'm ready for a new task"
-I: "Put the green mug onto the counter."
-> put-down1(green mug, on1(counter))
-  > approach1(counter)
-  < approach1(counter)
-< put-down1(green mug, on1(counter))
-R: "I'm ready for a new task"
-I: "Fill the green mug with water."
-> fill1(green mug, with1(water))
-  > pick-up1(green mug)
-  < pick-up1(green mug)
-  > put-down1(green mug, in1(cooler))
-    > approach1(cooler)
-    < approach1(cooler)
-  < put-down1(green mug, in1(cooler))
-  > press1(blue button, end{ contains1(green mug, water) })
-    > approach1(blue button)
-    < approach1(blue button)
-  < press1(blue button, end{ contains1(green mug, water) })
-< fill1(green mug, with1(water))
-R: "I'm ready for a new task"
-I: "Pick up the green mug."
-> pick-up1(green mug)
-  > approach1(green mug)
-  < approach1(green mug)
-< pick-up1(green mug)
-R: "I'm ready for a new task"
-I: "Pour the green mug into the sink."
-> pour1(green mug, in1(sink))
-  > approach1(sink)
-  < approach1(sink)
-< pour1(green mug, in1(sink))
-R: "I'm ready for a new task"
-I: "Fill the green mug with water."
-> fill1(green mug, with1(water))
-  > put-down1(green mug, in1(cooler))
-    > approach1(cooler)
-    < approach1(cooler)
-  < put-down1(green mug, in1(cooler))
-  > press1(blue button, end{ contains1(green mug, water) })
-    > approach1(blue button)
-    < approach1(blue button)
-  < press1(blue button, end{ contains1(green mug, water) })
-< fill1(green mug, with1(water))
-R: "I'm ready for a new task"
-I: "Pick up the green mug."
-> pick-up1(green mug)
-  > approach1(green mug)
-  < approach1(green mug)
-< pick-up1(green mug)
-R: "I'm ready for a new task"
-I: "Pour the green mug into the sink."
-> pour1(green mug, in1(sink))
-  > approach1(sink)
-  < approach1(sink)
-< pour1(green mug, in1(sink))
-R: "I'm ready for a new task"
-I: "Put the green mug onto the counter."
-> put-down1(green mug, on1(counter))
-  > approach1(counter)
-  < approach1(counter)
-< put-down1(green mug, on1(counter))
-R: "I'm ready for a new task"
-I: "Fill the blue mug with water."
-> fill1(blue mug, with1(water))
-  > pick-up1(blue mug)
-    > approach1(blue mug)
-    < approach1(blue mug)
-  < pick-up1(blue mug)
-  > put-down1(blue mug, in1(cooler))
-    > approach1(cooler)
-    < approach1(cooler)
-  < put-down1(blue mug, in1(cooler))
-  > press1(blue button, end{ contains1(blue mug, water) })
-    > approach1(blue button)
-    < approach1(blue button)
-  < press1(blue button, end{ contains1(blue mug, water) })
-< fill1(blue mug, with1(water))
-R: "I'm ready for a new task"
-I: "Pick up the blue mug."
-> pick-up1(blue mug)
-  > approach1(blue mug)
-  < approach1(blue mug)
-< pick-up1(blue mug)
-R: "I'm ready for a new task"
-I: "Pour the blue mug into the sink."
-> pour1(blue mug, in1(sink))
-  > approach1(sink)
-  < approach1(sink)
-< pour1(blue mug, in1(sink))
-R: "I'm ready for a new task"
-I: "Put the blue mug onto the counter."
-> put-down1(blue mug, on1(counter))
-  > approach1(counter)
-  < approach1(counter)
-< put-down1(blue mug, on1(counter))
-R: "I'm ready for a new task"
-I: "Fill the cup with milk."
-> fill1(white cup, with1(milk))
-  > pick-up1(carton)
-    > approach1(carton)
-    < approach1(carton)
-  < pick-up1(carton)
-  > pour1(carton, in1(white cup))
-    > approach1(white cup)
-    < approach1(white cup)
-  < pour1(carton, in1(white cup))
-< fill1(white cup, with1(milk))
-R: "I'm ready for a new task"
-I: "!CMD stop"
diff --git a/python/rosie/evaluation/modifiers/fill/extra-smem-adds.soar b/python/rosie/evaluation/modifiers/fill/extra-smem-adds.soar
deleted file mode 100644
index 8d04baa7c3..0000000000
--- a/python/rosie/evaluation/modifiers/fill/extra-smem-adds.soar
+++ /dev/null
@@ -1,41 +0,0 @@
-# office objects
-smem --add {
-
-	# Kitchen
-	(<kit> ^handle loc-kitchen1 ^object-instance true ^item-type object ^waypoint wp01
-		^category entity1 location room1 kitchen1 ^root-category kitchen1)
-		
-}
-
-## RELATIONS USED IN MOBILE DOMAIN FOR EVALUATION
-smem --add {
-(@on1 ^relation <501000x> <501000y> <501000z> )
-   (<501000x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000z> ^avg 0.005 ^axis z ^bottom 0.00001 ^count 3 ^squaredsum 0.0 ^sum 0.0 ^top 0.1 ^type greater )
-
-(@in1 ^relation <501001x> <501001y> <501001z> )
-   (<501001x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-
-#(@right-of1 ^relation <501002x> <501002y> <501002z>)
-#   (<501002x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501002y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type less )
-#   (<501002z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   
-#(@left-of1 ^relation <501003x> <501003y> <501003z>)
-#   (<501003x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501003y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
-#   (<501003z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#
-#(@behind1 ^relation <501014x> <501014y> <501014z>)
-#   (<501014x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
-#   (<501014y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501014z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   
-#(@infront1 ^relation <501016x> <501016y> <501016z>)
-#   (<501016x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.1 ^top 4.0 ^type less )
-#   (<501016y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501016z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-}
diff --git a/python/rosie/evaluation/modifiers/fill/extra-soar-rules.soar b/python/rosie/evaluation/modifiers/fill/extra-soar-rules.soar
deleted file mode 100644
index 68c4db4135..0000000000
--- a/python/rosie/evaluation/modifiers/fill/extra-soar-rules.soar
+++ /dev/null
@@ -1,142 +0,0 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-        ^report-find-results true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator increment-current-evaluation-depth 
-#       ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-
-   )
-}
-
-source internal-world.soar
-source waypoint-map.soar
-
-# PROPOSAL RULE for press
-sp {problem-space*action*propose-subtasks*propose*op_press1*button
-   (state <s> ^problem-space <ps>
-              ^world.objects.object <btn>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<btn> ^root-category button1
-          ^predicates.is-confirmed1 confirmed1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_press1 
-         ^item-type task-operator
-         ^task-handle press1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <btn>)
-}
-
-#### Increase the search depth over the default
-#sp {search-for-next-subtask*elaborate*search-phase-info
-#   (state <s> ^name search-for-next-subtask)
-#-->
-#   (<s> ^number-phases 2
-#        ^search-phase-info <p1> <p2>)
-#   # First phase - only consider subtasks with all objects in common with the current task
-#   (<p1> ^num 1 ^max-depth 4 ^require-all-objects-match 1 ^reject-perc-ops 3)
-#
-#   # Second phase - level 1: any subtasks, level 2: subtasks with 1+ matching objects, 
-#   #                level 3-4: only subtasks matching all objects
-#   (<p2> ^num 2 ^max-depth 4 ^require-matching-object 3 ^require-all-objects-match 4 ^reject-perc-ops 3)
-#}
-
-
-excise problem-space*action*internal*apply*op_find1*make*others*unconfirmed
-excise problem-space*action*internal*apply*op_find1*make*grabbable*others*unconfirmed
-
-#explain all on
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
-   (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-   (<preds> ^predicate.handle contains1)
-}
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*magicbot
-   (state <s> ^superstate nil
-              ^agent-params.domain magicbot
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   # Extract predicates via SVS
-   (<pred-mon> ^predicate-info.predicate-handle in1)
-   (<pred-mon> ^predicate-info.predicate-handle on1)
-
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-   (<preds> ^predicate.handle contains1)
-}
-
-### Rules for printing events
-sp {complete-push-task-segment*report*time*info
-   (state <s> ^name push-task-segment
-              ^operator.name complete-push-task-segment
-              ^segment-to-push.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$START-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {complete-pop-task-segment*report*time*info
-   (state <s> ^name pop-task-segment
-              ^operator.name complete-pop-task-segment
-              ^segment-to-pop.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$END-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {search-for-next-subtask*start*report*time*info
-   (state <s> ^operator.name search-for-next-subtask
-              ^superstate.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>
-             -^reported-time)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$BEGIN-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-   (<s> ^reported-time true)
-}
-
-sp {search-for-next-subtask*finish*report*time*info
-   (state <s> ^name search-for-next-subtask
-              ^superstate.superstate.task-operator.task-handle <task-h>
-              ^operator.name << return-successful-operator initiate-interaction >>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-}
diff --git a/python/rosie/evaluation/modifiers/fill/run_rosie.py b/python/rosie/evaluation/modifiers/fill/run_rosie.py
deleted file mode 100644
index 3513e8fa4a..0000000000
--- a/python/rosie/evaluation/modifiers/fill/run_rosie.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from tkinter import *
-import tkinter.font
-
-import sys
-import os
-
-from rosie import RosieGUI
-from rosie.testing import TestAgent
-from mobilesim.rosie import MobileSimAgent
-
-def launch_gui(rosie_config):
-    root = Tk()
-    eval_agent = MobileSimAgent(rosie_config)
-    eval_agent.messages.append("!CMD cli pc -f")
-    eval_gui = RosieGUI(eval_agent, master=root)
-    eval_gui.run()
-
-def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0)
-    eval_agent.run_test('correct-output.txt')
-
-# Lookup $ROSIE_HOME
-rosie_home = ""
-if "ROSIE_HOME" in os.environ:
-    rosie_home = os.environ["ROSIE_HOME"]
-else:
-    print("ERROR: Requires ROSIE_HOME environment variable set")
-    sys.exit(0)
-
-rosie_config = "agent/rosie.fill.config"
-
-if "--test" in sys.argv:
-    run_test(rosie_config)
-else:
-    launch_gui(rosie_config)
-
diff --git a/python/rosie/evaluation/modifiers/fill/script.txt b/python/rosie/evaluation/modifiers/fill/script.txt
deleted file mode 100644
index f46ae4517e..0000000000
--- a/python/rosie/evaluation/modifiers/fill/script.txt
+++ /dev/null
@@ -1,56 +0,0 @@
-# Setup
-Scan.
-
-### Task 1: Teaching with end-clause for press
-Fill the green mug with water.
-The only goal is that the green mug contains water. 
-Pick up the green mug.
-Put the green mug into the watercooler.
-If the drink is water and the green mug is in the watercooler then press the blue button on the watercooler until the green mug contains water.
-
-
-### Task 2: Identical
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-Put the green mug onto the counter.
-
-# Task
-Fill the green mug with water. 
-
-
-### Task 3: Already holding the mug
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-
-# Task
-Fill the green mug with water. 
-
-
-### Task 4: Using an unseen mug
-
-# Setup
-Pick up the green mug.
-Pour the green mug into the sink.
-Put the green mug onto the counter.
-
-# Task
-Fill the blue mug with water.
-!FIND_HELP The blue mug is in the cupboard.
-
-
-### Task 5: Using milk instead
-
-# Setup
-Pick up the blue mug.
-Pour the blue mug into the sink.
-Put the blue mug onto the counter.
-
-# Task
-Fill the cup with milk.
-
-### END
-!CMD stop
diff --git a/python/rosie/evaluation/modifiers/fill/smem-config.txt b/python/rosie/evaluation/modifiers/fill/smem-config.txt
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/python/rosie/evaluation/modifiers/fill/world.info b/python/rosie/evaluation/modifiers/fill/world.info
deleted file mode 100644
index ccb6347738..0000000000
--- a/python/rosie/evaluation/modifiers/fill/world.info
+++ /dev/null
@@ -1,36 +0,0 @@
-robot 4 4 0.0
-
-# Simple Kitchen
-
-##         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
-
-# North Wall
-Pantry               1.50  5.60  0.01   270   0.80  2.50  2.00               0
-Cooler    manual     3.80  5.60  0.01   270   0.80  0.80  2.00               1 temp_id=cooler1
-Button    cooler1    3.80  5.20  1.80   270   0.10  0.10  0.10    0   0 255  1 color=blue1
-
-# East Wall
-BoxObject            5.60  5.30  0.01     0   0.80  1.39  1.00  250 230 140  0
-Sink                 5.60  3.80  0.50   180   0.80  1.60  0.50               0
-Cupboard             5.60  2.25  0.01   180   0.80  1.49  0.80               0
-SimObject  obstacle1 5.60  0.75  0.01     0   0.80  1.49  0.80   94  76  28  0
-Counter              5.60  1.50  0.82   180   0.80  2.99  0.18               0
-
-# Green Mug: On the counter
-Mug                  5.50  1.00  1.02     0   0.20  0.20  0.20    0 255   0  2 grabbable color=green1 
-# Blue Mug: In the cupboard
-Mug                  5.50  2.25  0.12     0   0.20  0.20  0.20   40  40 255  2 grabbable color=blue1
-# Cup: In the pantry
-Cup                  1.50  5.50  0.52     0   0.20  0.20  0.30   255 255 255 2 grabbable color=white1
-# Milk Carton: On the counter
-SimObject carton1    5.50  2.00  1.02     0   0.40  0.30  0.60   200 200 255 4 grabbable custom-model dispenser contents1=milk1
-
-region 1 3 3 0 6 6 
-
-wallchain 4
-  -0.12 -0.12
-  -0.12  6.12
-   6.12  6.12
-   6.12 -0.12
-  -0.12 -0.12
-
diff --git a/python/rosie/evaluation/modifiers/script.txt b/python/rosie/evaluation/modifiers/script.txt
deleted file mode 100644
index d2c309fd7c..0000000000
--- a/python/rosie/evaluation/modifiers/script.txt
+++ /dev/null
@@ -1,65 +0,0 @@
-Scan. 
-
-# A meaningless procedural task to make sure that subtask learning is correct
-Guide Mary.
-
-Wait until 9:00. 
-
-After ten minutes, open the fridge.
-
-At 10:00, orient east. 
-
-When the fridge is closed, pick up the mug.
-!CMD close 1
-
-Monitor the door until the meeting is finished.
-The only goal is that the door is always closed. 
-The meeting is finished. 
-
-Turn left for five seconds. 
-
-You are done.
-
-Put down the mug. 
-
-Guide Mary.
-
-#When the fork is on the table and the door is closed, open the door.
-#
-#At 3:00 open the fridge.
-#
-#Monitor the door until the meeting is finished. 
-#
-#Monitor the door until 3:00.
-#
-#Turn left while the soda is visible.
-#
-#Turn left for five seconds.
-
-
-#
-## Task Start w/ Condition:
-#After the microwave is off, open the microwave.
-#When the meeting is finished, open the door. 
-#The meeting is finished. 
-#
-## Task Start w/ Duration:
-#After three minutes, pick up the apple.
-#
-## Task Start w/ Time:
-#At 8:30, open the fridge. 
-#
-## Task Duration:
-#Follow Bob for three minutes. 
-#The only goal is that Bob is always visible.
-#
-## Task Duration w/ Condition:
-#Turn left while Bob is visible.
-#
-## Task End w/ Condition:
-#Monitor the door until the meeting is finished. 
-#The only goal is that the door is always closed.
-#The meeting is finished. 
-#
-## Task End w/ Time:
-#Wait until 3:00. 
diff --git a/python/rosie/evaluation/move-variations/README b/python/rosie/evaluation/move-variations/README
deleted file mode 100644
index 68ca76d64f..0000000000
--- a/python/rosie/evaluation/move-variations/README
+++ /dev/null
@@ -1,33 +0,0 @@
-evaluation: move-variations
-
-Aaron Mininger
-
-This is an evaluation used to test the abiliy of Rosie to take a learned task
-and combine it with many different modifiers without needing further instruction. 
-
-# Prerequisites:
-
-* MobileSim java simulator
-* Soar built with python3 SML library
-* pysoarlib (https://github.com/amininger/pysoarlib) 
-* Both the $ROSIE_HOME and $MOBILE_SIM_HOME environment variables set
-
-# Test Script
-
-1. move with start-clause(clocktime)
-2. move with start-clause(duration)
-3. move with start-clause(condition)
-4. move with end-clause(condition) - until 
-5. move with conditions
-6. move with N times modifier
-7. move within counter loop
-8. move within while loop
-9. move within until loop
-
-# Running
-
-$> make run_evaluation
-
-# Can also run as an automated test
-$> make run_test
-
diff --git a/python/rosie/evaluation/move-variations/__main__.py b/python/rosie/evaluation/move-variations/__main__.py
deleted file mode 100644
index 8a8b7debfe..0000000000
--- a/python/rosie/evaluation/move-variations/__main__.py
+++ /dev/null
@@ -1,42 +0,0 @@
-from tkinter import *
-import tkinter.font
-
-import sys
-import os
-
-from pysoarlib import AgentConnector
-from rosie import RosieGUI
-from rosie.testing import TestAgent
-from mobilesim.rosie import MobileSimAgent
-
-
-def launch_gui(rosie_config):
-    root = Tk()
-    eval_agent = MobileSimAgent(rosie_config, clock_step_ms=200)
-    eval_agent.messages.append("!CMD cli pc -f")
-    eval_gui = RosieGUI(eval_agent, master=root)
-    eval_gui.run()
-
-def run_test(rosie_config):
-    eval_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0, clock_step_ms=200)
-    eval_agent.run_test('correct-output.txt')
-
-def main():
-    # Lookup $ROSIE_HOME
-    if "ROSIE_HOME" in os.environ:
-        rosie_home = os.environ["ROSIE_HOME"]
-    else:
-        print("ERROR: Requires ROSIE_HOME environment variable set")
-        return
-
-    AGENT_NAME = "move-variations"
-    rosie_config = rosie_home + "/python/rosie/evaluation/" + AGENT_NAME + "/agent/rosie." + AGENT_NAME + ".config"
-
-    if "--test" in sys.argv:
-        run_test(rosie_config)
-    else:
-        launch_gui(rosie_config)
-
-if __name__ == "__main__":
-    main()
diff --git a/python/rosie/evaluation/move-variations/correct-output.txt b/python/rosie/evaluation/move-variations/correct-output.txt
deleted file mode 100644
index a2ea25c0ba..0000000000
--- a/python/rosie/evaluation/move-variations/correct-output.txt
+++ /dev/null
@@ -1,676 +0,0 @@
-R: "I'm ready for a new task"
-I: "Move the fork onto the table."
-> move1(gray fork, on1(table))
-R: "What is the next goal or subtask of move?"
-I: "The only goal is that the fork is on the table."
-  > pick-up1(gray fork)
-    > approach1(gray fork)
-    < approach1(gray fork)
-  < pick-up1(gray fork)
-  > put-down1(gray fork, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(gray fork, on1(table))
-< move1(gray fork, on1(table))
-R: "I'm ready for a new task"
-I: "!CMD set-time 8 10 ."
-I: "test-task1."
-> test-task1()
-R: "What is the next goal or subtask of test-task?"
-I: "At 8:15, move the mug onto the table."
-  > move1(green mug, on1(table), start{ 8:15 })
-    > pick-up1(green mug)
-      > approach1(green mug)
-      < approach1(green mug)
-    < pick-up1(green mug)
-    > put-down1(green mug, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(green mug, on1(table))
-  < move1(green mug, on1(table), start{ 8:15 })
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task1()
-R: "I'm ready for a new task"
-I: "Move the mug into the pantry."
-> move1(green mug, in1(pantry))
-  > pick-up1(green mug)
-  < pick-up1(green mug)
-  > put-down1(green mug, in1(pantry))
-    > approach1(pantry)
-    < approach1(pantry)
-  < put-down1(green mug, in1(pantry))
-< move1(green mug, in1(pantry))
-R: "I'm ready for a new task"
-I: "Close the pantry."
-> close1(pantry)
-< close1(pantry)
-R: "I'm ready for a new task"
-I: "!CMD set-time 8 10 ."
-I: "test-task1."
-> test-task1()
-  > move1(green mug, on1(table), start{ 8:15 })
-    > pick-up1(green mug)
-      > open1(pantry)
-      < open1(pantry)
-    < pick-up1(green mug)
-    > put-down1(green mug, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(green mug, on1(table))
-  < move1(green mug, on1(table), start{ 8:15 })
-< test-task1()
-R: "I'm ready for a new task"
-I: "test-task2."
-> test-task2()
-R: "What is the next goal or subtask of test-task?"
-I: "After five minutes, move the cup onto the counter."
-  > move1(blue cup, on1(counter), start{ 5 minutes })
-    > pick-up1(blue cup)
-      > approach1(blue cup)
-      < approach1(blue cup)
-    < pick-up1(blue cup)
-    > put-down1(blue cup, on1(counter))
-      > approach1(counter)
-      < approach1(counter)
-    < put-down1(blue cup, on1(counter))
-  < move1(blue cup, on1(counter), start{ 5 minutes })
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task2()
-R: "I'm ready for a new task"
-I: "Move the cup onto the table."
-> move1(blue cup, on1(table))
-  > pick-up1(blue cup)
-  < pick-up1(blue cup)
-  > put-down1(blue cup, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(blue cup, on1(table))
-< move1(blue cup, on1(table))
-R: "I'm ready for a new task"
-I: "test-task2."
-> test-task2()
-  > move1(blue cup, on1(counter), start{ 5 minutes })
-    > pick-up1(blue cup)
-    < pick-up1(blue cup)
-    > put-down1(blue cup, on1(counter))
-      > approach1(counter)
-      < approach1(counter)
-    < put-down1(blue cup, on1(counter))
-  < move1(blue cup, on1(counter), start{ 5 minutes })
-< test-task2()
-R: "I'm ready for a new task"
-I: "test-task3."
-> test-task3()
-R: "What is the next goal or subtask of test-task?"
-I: "Move a plate onto the table."
-  > move1(white plate, on1(table))
-    > pick-up1(white plate)
-      > approach1(white plate)
-      < approach1(white plate)
-    < pick-up1(white plate)
-    > put-down1(white plate, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(white plate, on1(table))
-  < move1(white plate, on1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "When the dinner is finished, move the plate into the sink."
-  > move1(blue plate, in1(sink), start{ task-completed(dinner) })
-R: "report-start-clause"
-I: "The dinner is finished."
-R: "Ok"
-    > pick-up1(blue plate)
-      > approach1(blue plate)
-      < approach1(blue plate)
-    < pick-up1(blue plate)
-    > put-down1(blue plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(blue plate, in1(sink))
-  < move1(blue plate, in1(sink), start{ task-completed(dinner) })
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task3()
-R: "I'm ready for a new task"
-I: "Move the plate into the pantry."
-> move1(white plate, in1(pantry))
-  > pick-up1(white plate)
-    > approach1(white plate)
-    < approach1(white plate)
-  < pick-up1(white plate)
-  > put-down1(white plate, in1(pantry))
-    > approach1(pantry)
-    < approach1(pantry)
-  < put-down1(white plate, in1(pantry))
-< move1(white plate, in1(pantry))
-R: "I'm ready for a new task"
-I: "test-task3."
-> test-task3()
-  > move1(blue plate, on1(table))
-    > pick-up1(blue plate)
-      > approach1(blue plate)
-      < approach1(blue plate)
-    < pick-up1(blue plate)
-    > put-down1(blue plate, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(blue plate, on1(table))
-  < move1(blue plate, on1(table))
-  > move1(white plate, in1(sink), start{ task-completed(dinner) })
-R: "report-start-clause"
-I: "The dinner is finished."
-R: "Ok"
-    > pick-up1(white plate)
-      > approach1(white plate)
-      < approach1(white plate)
-    < pick-up1(white plate)
-    > put-down1(white plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(white plate, in1(sink))
-  < move1(white plate, in1(sink), start{ task-completed(dinner) })
-< test-task3()
-R: "I'm ready for a new task"
-I: "test-task4 the green mug with water."
-> test-task4(green mug, with1(water))
-R: "What is the next goal or subtask of test-task?"
-I: "The only goal is that the green mug contains water."
-R: "What do I do next for test-task?"
-I: "If the drink is water then move the green mug into the watercooler until the green mug contains water."
-  > move1(green mug, in1(cooler), end{ contains1(green mug, water) })
-    > pick-up1(green mug)
-      > approach1(green mug)
-      < approach1(green mug)
-    < pick-up1(green mug)
-    > put-down1(green mug, in1(cooler))
-      > approach1(cooler)
-      < approach1(cooler)
-    < put-down1(green mug, in1(cooler))
-  < move1(green mug, in1(cooler), end{ contains1(green mug, water) })
-< test-task4(green mug, with1(water))
-R: "I'm ready for a new task"
-I: "Pick up the green mug."
-> pick-up1(green mug)
-< pick-up1(green mug)
-R: "I'm ready for a new task"
-I: "Pour the green mug into the sink."
-> pour1(green mug, in1(sink))
-  > approach1(sink)
-  < approach1(sink)
-< pour1(green mug, in1(sink))
-R: "I'm ready for a new task"
-I: "test-task4 the green mug with water."
-> test-task4(green mug, with1(water))
-  > move1(green mug, in1(cooler), end{ contains1(green mug, water) })
-    > put-down1(green mug, in1(cooler))
-      > approach1(cooler)
-      < approach1(cooler)
-    < put-down1(green mug, in1(cooler))
-  < move1(green mug, in1(cooler), end{ contains1(green mug, water) })
-< test-task4(green mug, with1(water))
-R: "I'm ready for a new task"
-I: "Move the green mug onto the table."
-> move1(green mug, on1(table))
-  > pick-up1(green mug)
-  < pick-up1(green mug)
-  > put-down1(green mug, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(green mug, on1(table))
-< move1(green mug, on1(table))
-R: "I'm ready for a new task"
-I: "test-task5 the fork."
-> test-task5(gray fork)
-R: "What is the next goal or subtask of test-task?"
-I: "If the fork is a utensil then first move the fork into the drawer."
-  > move1(gray fork, in1(drawer))
-    > open1(drawer)
-      > approach1(drawer)
-      < approach1(drawer)
-    < open1(drawer)
-    > pick-up1(gray fork)
-      > approach1(gray fork)
-      < approach1(gray fork)
-    < pick-up1(gray fork)
-    > put-down1(gray fork, in1(drawer))
-      > approach1(drawer)
-      < approach1(drawer)
-    < put-down1(gray fork, in1(drawer))
-  < move1(gray fork, in1(drawer))
-R: "What is the next goal or subtask of test-task?"
-I: "Close the drawer."
-  > close1(drawer)
-  < close1(drawer)
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task5(gray fork)
-R: "I'm ready for a new task"
-I: "test-task5 the ketchup."
-> test-task5(red ketchup)
-R: "What is the next goal or subtask of test-task?"
-I: "If the ketchup is a condiment then first move the ketchup into the fridge."
-  > move1(red ketchup, in1(fridge))
-    > open1(fridge)
-      > approach1(fridge)
-      < approach1(fridge)
-    < open1(fridge)
-    > pick-up1(red ketchup)
-      > approach1(red ketchup)
-      < approach1(red ketchup)
-    < pick-up1(red ketchup)
-    > put-down1(red ketchup, in1(fridge))
-      > approach1(fridge)
-      < approach1(fridge)
-    < put-down1(red ketchup, in1(fridge))
-  < move1(red ketchup, in1(fridge))
-R: "What is the next goal or subtask of test-task?"
-I: "Close the fridge."
-  > close1(fridge)
-  < close1(fridge)
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task5(red ketchup)
-R: "I'm ready for a new task"
-I: "test-task5 the spoon."
-> test-task5(gray spoon)
-  > move1(gray spoon, in1(drawer))
-    > open1(drawer)
-      > approach1(drawer)
-      < approach1(drawer)
-    < open1(drawer)
-    > pick-up1(gray spoon)
-      > approach1(gray spoon)
-      < approach1(gray spoon)
-    < pick-up1(gray spoon)
-    > put-down1(gray spoon, in1(drawer))
-      > approach1(drawer)
-      < approach1(drawer)
-    < put-down1(gray spoon, in1(drawer))
-  < move1(gray spoon, in1(drawer))
-  > close1(drawer)
-  < close1(drawer)
-< test-task5(gray spoon)
-R: "I'm ready for a new task"
-I: "test-task5 the mustard."
-> test-task5(yellow mustard)
-  > move1(yellow mustard, in1(fridge))
-    > open1(fridge)
-      > approach1(fridge)
-      < approach1(fridge)
-    < open1(fridge)
-    > pick-up1(yellow mustard)
-      > approach1(yellow mustard)
-      < approach1(yellow mustard)
-    < pick-up1(yellow mustard)
-    > put-down1(yellow mustard, in1(fridge))
-      > approach1(fridge)
-      < approach1(fridge)
-    < put-down1(yellow mustard, in1(fridge))
-  < move1(yellow mustard, in1(fridge))
-  > close1(fridge)
-  < close1(fridge)
-< test-task5(yellow mustard)
-R: "I'm ready for a new task"
-I: "test-task6 the mug."
-> test-task6(green mug)
-R: "What is the next goal or subtask of test-task?"
-I: "Move the mug into the pantry for three times."
-  > move1(green mug, in1(pantry), end{ 3 times })
-    > pick-up1(green mug)
-      > approach1(green mug)
-      < approach1(green mug)
-    < pick-up1(green mug)
-    > put-down1(green mug, in1(pantry))
-      > approach1(pantry)
-      < approach1(pantry)
-    < put-down1(green mug, in1(pantry))
-  < move1(green mug, in1(pantry), end{ 3 times })
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task6(green mug)
-R: "I'm ready for a new task"
-I: "test-task6 the cup."
-> test-task6(blue cup)
-  > move1(blue cup, in1(pantry), end{ 3 times })
-    > pick-up1(blue cup)
-      > approach1(blue cup)
-      < approach1(blue cup)
-    < pick-up1(blue cup)
-    > put-down1(blue cup, in1(pantry))
-      > approach1(pantry)
-      < approach1(pantry)
-    < put-down1(blue cup, in1(pantry))
-  < move1(blue cup, in1(pantry), end{ 3 times })
-< test-task6(blue cup)
-R: "I'm ready for a new task"
-I: "test-task7 the table."
-> test-task7(table)
-R: "What is the next goal or subtask of test-task?"
-I: "Repeat the following task for two times."
-R: "What is the next goal or subtask of test-task?"
-I: "Move a condiment onto the table."
-  > move1(red ketchup, on1(table))
-    > pick-up1(red ketchup)
-      > approach1(red ketchup)
-      < approach1(red ketchup)
-      > open1(fridge)
-        > approach1(fridge)
-        < approach1(fridge)
-      < open1(fridge)
-      > approach1(red ketchup)
-      < approach1(red ketchup)
-    < pick-up1(red ketchup)
-    > put-down1(red ketchup, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(red ketchup, on1(table))
-  < move1(red ketchup, on1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "Repeat."
-  > move1(yellow mustard, on1(table))
-    > pick-up1(yellow mustard)
-      > approach1(yellow mustard)
-      < approach1(yellow mustard)
-    < pick-up1(yellow mustard)
-    > put-down1(yellow mustard, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(yellow mustard, on1(table))
-  < move1(yellow mustard, on1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task7(table)
-R: "I'm ready for a new task"
-I: "Move the ketchup onto the counter."
-> move1(red ketchup, on1(counter))
-  > pick-up1(red ketchup)
-    > approach1(red ketchup)
-    < approach1(red ketchup)
-  < pick-up1(red ketchup)
-  > put-down1(red ketchup, on1(counter))
-    > approach1(counter)
-    < approach1(counter)
-  < put-down1(red ketchup, on1(counter))
-< move1(red ketchup, on1(counter))
-R: "I'm ready for a new task"
-I: "Move the mustard into the fridge."
-> move1(yellow mustard, in1(fridge))
-  > pick-up1(yellow mustard)
-    > approach1(yellow mustard)
-    < approach1(yellow mustard)
-  < pick-up1(yellow mustard)
-  > put-down1(yellow mustard, in1(fridge))
-    > approach1(fridge)
-    < approach1(fridge)
-  < put-down1(yellow mustard, in1(fridge))
-< move1(yellow mustard, in1(fridge))
-R: "I'm ready for a new task"
-I: "test-task7 the table."
-> test-task7(table)
-  > move1(red ketchup, on1(table))
-    > pick-up1(red ketchup)
-      > approach1(red ketchup)
-      < approach1(red ketchup)
-    < pick-up1(red ketchup)
-    > put-down1(red ketchup, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(red ketchup, on1(table))
-  < move1(red ketchup, on1(table))
-  > move1(yellow mustard, on1(table))
-    > pick-up1(yellow mustard)
-      > approach1(yellow mustard)
-      < approach1(yellow mustard)
-    < pick-up1(yellow mustard)
-    > put-down1(yellow mustard, on1(table))
-      > approach1(table)
-      < approach1(table)
-    < put-down1(yellow mustard, on1(table))
-  < move1(yellow mustard, on1(table))
-< test-task7(table)
-R: "I'm ready for a new task"
-I: "Move the white plate onto the table."
-> move1(white plate, on1(table))
-  > pick-up1(white plate)
-    > approach1(white plate)
-    < approach1(white plate)
-  < pick-up1(white plate)
-  > put-down1(white plate, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(white plate, on1(table))
-< move1(white plate, on1(table))
-R: "I'm ready for a new task"
-I: "Move the blue plate onto the table."
-> move1(blue plate, on1(table))
-< move1(blue plate, on1(table))
-R: "I'm ready for a new task"
-I: "test-task8 the table."
-> test-task8(table)
-R: "What is the next goal or subtask of test-task?"
-I: "Repeat the following task while the plate is on the table."
-R: "What is the next goal or subtask of test-task?"
-I: "Move a plate into the sink from the table."
-  > move1(white plate, in1(sink), from1(table))
-    > pick-up1(white plate)
-    < pick-up1(white plate)
-    > put-down1(white plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(white plate, in1(sink))
-  < move1(white plate, in1(sink), from1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "Repeat"
-  > move1(blue plate, in1(sink), from1(table))
-    > pick-up1(blue plate)
-      > approach1(blue plate)
-      < approach1(blue plate)
-    < pick-up1(blue plate)
-    > put-down1(blue plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(blue plate, in1(sink))
-  < move1(blue plate, in1(sink), from1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task8(table)
-R: "I'm ready for a new task"
-I: "Move the white plate onto the table."
-> move1(white plate, on1(table))
-  > pick-up1(white plate)
-    > approach1(white plate)
-    < approach1(white plate)
-  < pick-up1(white plate)
-  > put-down1(white plate, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(white plate, on1(table))
-< move1(white plate, on1(table))
-R: "I'm ready for a new task"
-I: "Move the blue plate onto the table."
-> move1(blue plate, on1(table))
-  > pick-up1(blue plate)
-    > approach1(blue plate)
-    < approach1(blue plate)
-  < pick-up1(blue plate)
-  > put-down1(blue plate, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(blue plate, on1(table))
-< move1(blue plate, on1(table))
-R: "I'm ready for a new task"
-I: "test-task8 the table."
-> test-task8(table)
-  > move1(blue plate, in1(sink), from1(table))
-    > pick-up1(blue plate)
-    < pick-up1(blue plate)
-    > put-down1(blue plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(blue plate, in1(sink))
-  < move1(blue plate, in1(sink), from1(table))
-  > move1(white plate, in1(sink), from1(table))
-    > pick-up1(white plate)
-      > approach1(white plate)
-      < approach1(white plate)
-    < pick-up1(white plate)
-    > put-down1(white plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(white plate, in1(sink))
-  < move1(white plate, in1(sink), from1(table))
-< test-task8(table)
-R: "I'm ready for a new task"
-I: "Move the white plate onto the table."
-> move1(white plate, on1(table))
-  > pick-up1(white plate)
-  < pick-up1(white plate)
-  > put-down1(white plate, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(white plate, on1(table))
-< move1(white plate, on1(table))
-R: "I'm ready for a new task"
-I: "Move the blue plate onto the table."
-> move1(blue plate, on1(table))
-  > pick-up1(blue plate)
-    > approach1(blue plate)
-    < approach1(blue plate)
-  < pick-up1(blue plate)
-  > put-down1(blue plate, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(blue plate, on1(table))
-< move1(blue plate, on1(table))
-R: "I'm ready for a new task"
-I: "test-task9 the table."
-> test-task9(table)
-R: "What is the next goal or subtask of test-task?"
-I: "Repeat the following task until the table is clear."
-R: "What is the next goal or subtask of test-task?"
-I: "Move an object into the sink from the table."
-  > move1(white plate, in1(sink), from1(table))
-    > pick-up1(white plate)
-      > approach1(white plate)
-      < approach1(white plate)
-    < pick-up1(white plate)
-    > put-down1(white plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(white plate, in1(sink))
-  < move1(white plate, in1(sink), from1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "Repeat"
-  > move1(yellow mustard, in1(sink), from1(table))
-    > pick-up1(yellow mustard)
-      > approach1(yellow mustard)
-      < approach1(yellow mustard)
-    < pick-up1(yellow mustard)
-    > put-down1(yellow mustard, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(yellow mustard, in1(sink))
-  < move1(yellow mustard, in1(sink), from1(table))
-  > move1(blue plate, in1(sink), from1(table))
-    > pick-up1(blue plate)
-      > approach1(blue plate)
-      < approach1(blue plate)
-    < pick-up1(blue plate)
-    > put-down1(blue plate, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(blue plate, in1(sink))
-  < move1(blue plate, in1(sink), from1(table))
-  > move1(red ketchup, in1(sink), from1(table))
-    > pick-up1(red ketchup)
-      > approach1(red ketchup)
-      < approach1(red ketchup)
-    < pick-up1(red ketchup)
-    > put-down1(red ketchup, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(red ketchup, in1(sink))
-  < move1(red ketchup, in1(sink), from1(table))
-R: "What is the next goal or subtask of test-task?"
-I: "You are done."
-< test-task9(table)
-R: "I'm ready for a new task"
-I: "Move the green mug onto the table."
-> move1(green mug, on1(table))
-  > pick-up1(green mug)
-    > approach1(green mug)
-    < approach1(green mug)
-  < pick-up1(green mug)
-  > put-down1(green mug, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(green mug, on1(table))
-< move1(green mug, on1(table))
-R: "I'm ready for a new task"
-I: "Move the blue cup onto the table."
-> move1(blue cup, on1(table))
-  > pick-up1(blue cup)
-    > approach1(blue cup)
-    < approach1(blue cup)
-  < pick-up1(blue cup)
-  > put-down1(blue cup, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(blue cup, on1(table))
-< move1(blue cup, on1(table))
-R: "I'm ready for a new task"
-I: "Move the spoon onto the table."
-> move1(gray spoon, on1(table))
-  > pick-up1(gray spoon)
-    > approach1(gray spoon)
-    < approach1(gray spoon)
-    > open1(drawer)
-      > approach1(drawer)
-      < approach1(drawer)
-    < open1(drawer)
-    > approach1(gray spoon)
-    < approach1(gray spoon)
-  < pick-up1(gray spoon)
-  > put-down1(gray spoon, on1(table))
-    > approach1(table)
-    < approach1(table)
-  < put-down1(gray spoon, on1(table))
-< move1(gray spoon, on1(table))
-R: "I'm ready for a new task"
-I: "test-task9 the table."
-> test-task9(table)
-  > move1(blue cup, in1(sink), from1(table))
-    > pick-up1(blue cup)
-      > approach1(blue cup)
-      < approach1(blue cup)
-    < pick-up1(blue cup)
-    > put-down1(blue cup, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(blue cup, in1(sink))
-  < move1(blue cup, in1(sink), from1(table))
-  > move1(gray spoon, in1(sink), from1(table))
-    > pick-up1(gray spoon)
-      > approach1(gray spoon)
-      < approach1(gray spoon)
-    < pick-up1(gray spoon)
-    > put-down1(gray spoon, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(gray spoon, in1(sink))
-  < move1(gray spoon, in1(sink), from1(table))
-  > move1(green mug, in1(sink), from1(table))
-    > pick-up1(green mug)
-      > approach1(green mug)
-      < approach1(green mug)
-    < pick-up1(green mug)
-    > put-down1(green mug, in1(sink))
-      > approach1(sink)
-      < approach1(sink)
-    < put-down1(green mug, in1(sink))
-  < move1(green mug, in1(sink), from1(table))
-< test-task9(table)
-R: "I'm ready for a new task"
-I: "!CMD cli stop"
diff --git a/python/rosie/evaluation/move-variations/extra-smem-adds.soar b/python/rosie/evaluation/move-variations/extra-smem-adds.soar
deleted file mode 100644
index fbf503cc84..0000000000
--- a/python/rosie/evaluation/move-variations/extra-smem-adds.soar
+++ /dev/null
@@ -1,92 +0,0 @@
-# office objects
-smem --add {
-
-	# Kitchen
-	(<kit> ^handle loc-kitchen1 ^object-instance true ^item-type object ^waypoint wp01
-		^category entity1 location room1 kitchen1 ^root-category kitchen1)
-		
-	# Main Office
-	(<main> ^handle loc-main1 ^object-instance true ^item-type object ^waypoint wp02
-		^category entity1 location room1 office1 ^root-category office1 ^name main1)
-		
-	# Conference Room
-	(<conf> ^handle loc-conf1 ^object-instance true ^item-type object ^waypoint wp03
-		^category entity1 location room1 ^root-category room1 ^name conference1)
-		
-	# Copy Room
-	(<copy> ^handle loc-copy1 ^object-instance true ^item-type object ^waypoint wp04
-		^category entity1 location room1 ^root-category room1 ^name copy1)
-		
-	# Alice's office
-	(<aloff> ^handle loc-alice-off1 ^object-instance true ^item-type object ^waypoint wp05
-		^category entity1 location room1 office1 ^root-category office1 ^possessive alices1 ^owner1 person-alice1)
-		
-	# Bob's office
-	(<boboff> ^handle loc-bob-off1 ^object-instance true ^item-type object ^waypoint wp06
-		^category entity1 location room1 office1 ^root-category office1 ^possessive bobs1 ^owner1 person-bob1)
-		
-	# Charlie's office
-	(<choff> ^handle loc-charlie-off1 ^object-instance true ^item-type object ^waypoint wp07
-		^category entity1 location room1 office1 ^root-category office1 ^possessive charlies1 ^owner1 person-charlie1)
-		
-	# North Hallway
-	(<north> ^handle loc-north-hall1 ^object-instance true ^item-type object ^waypoint wp08
-		^category entity1 location hall1 ^root-category hall1 ^cardinal-direction1 north1)
-		
-	# Central Hallway
-	(<north> ^handle loc-north-hall1 ^object-instance true ^item-type object ^waypoint wp09
-		^category entity1 location hall1 ^root-category hall1 ^relative-direction1 central1)
-		
-	# South Hallway
-	(<south> ^handle loc-south-hall1 ^object-instance true ^item-type object ^waypoint wp10
-		^category entity1 location hall1 ^root-category hall1 ^cardinal-direction1 south1)
-
-	# Alice
-	(<alice> ^handle person-alice1 ^object-instance true ^item-type object
-		^category entity1 person ^root-category person ^name alice1)
-		
-	# Bob
-	(<bob> ^handle person-bob1 ^object-instance true ^item-type object
-		^category entity1 person ^root-category person ^name bob1)
-		
-	# Charlie
-	(<charlie> ^handle person-charlie1 ^object-instance true ^item-type object
-		^category entity1 person ^root-category person ^name charlie1)
-		
-	# Chef (Mary)
-	(<chef> ^handle person-chef1 ^object-instance true ^item-type object
-		^category entity1 person chef1 ^root-category chef1 ^name mary1)
-}
-
-## RELATIONS USED IN MOBILE DOMAIN FOR EVALUATION
-smem --add {
-(@on1 ^relation <501000x> <501000y> <501000z> )
-   (<501000x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000z> ^avg 0.005 ^axis z ^bottom 0.00001 ^count 3 ^squaredsum 0.0 ^sum 0.0 ^top 0.1 ^type greater )
-
-(@in1 ^relation <501001x> <501001y> <501001z> )
-   (<501001x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-
-#(@right-of1 ^relation <501002x> <501002y> <501002z>)
-#   (<501002x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501002y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type less )
-#   (<501002z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   
-#(@left-of1 ^relation <501003x> <501003y> <501003z>)
-#   (<501003x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501003y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
-#   (<501003z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#
-#(@behind1 ^relation <501014x> <501014y> <501014z>)
-#   (<501014x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
-#   (<501014y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501014z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   
-#(@infront1 ^relation <501016x> <501016y> <501016z>)
-#   (<501016x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.1 ^top 4.0 ^type less )
-#   (<501016y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501016z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-}
diff --git a/python/rosie/evaluation/move-variations/extra-soar-rules.soar b/python/rosie/evaluation/move-variations/extra-soar-rules.soar
deleted file mode 100644
index 7f1d55ce73..0000000000
--- a/python/rosie/evaluation/move-variations/extra-soar-rules.soar
+++ /dev/null
@@ -1,221 +0,0 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-        ^report-find-results true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-
-   )
-}
-
-source waypoint-map.soar
-source internal-world.soar
-
-#explain all on
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
-   (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-   (<preds> ^predicate.handle contains1)
-}
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*magicbot
-   (state <s> ^superstate nil
-              ^agent-params.domain magicbot
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   # Extract predicates via SVS
-   (<pred-mon> ^predicate-info.predicate-handle in1)
-   (<pred-mon> ^predicate-info.predicate-handle on1)
-
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-   (<preds> ^predicate.handle contains1)
-}
-
-### These rules will advance the script when the agent hits 
-# a task with a start condition predicate test
-sp {subproblem*execute*propose*report-start-clause
-   (state <s> ^problem-space.subproblem execute
-              ^desired.item-type start-goal
-              ^task-operator.start-clause <cl>
-             -^satisfied <cl>
-              ^current-task-segment <seg>)
-   (<cl> ^<pnum>.type << unary relation >>)
-   (<seg> -^reported-start-clause)
--->
-   (<s> ^operator <o> + =)
-   (<o> ^name report-start-clause)
-}
-
-sp {subproblem*execute*apply*report-start-clause
-   (state <s> ^problem-space.subproblem execute
-              ^operator.name report-start-clause
-              ^task-operator.task-handle <task-h>
-              ^current-task-segment <seg>
-              ^io.output-link <out>)
--->
-   (<out> ^send-message <msg>)
-   (<msg> ^type report-start-clause
-          ^fields.task-handle <task-h>)
-
-   (<seg> ^reported-start-clause true)
-}
-
-### Top-state, elaborate clear if surface with nothing on it
-sp {top-state*world*elaborate*surface*clear
-   (state <s> ^superstate nil
-              ^world.objects.object <surface>
-              ^world.predicates.predicate <in-pred>)
-   (<surface> ^predicates <preds>)
-   (<preds> ^affordance1 surface1)
-   (<in-pred> ^handle on1)
-  -{(<in-pred> ^instance <i>) 
-    (<i> ^2 <surface>)}
--->
-   (<preds> ^property clear)
-}
-
-### Putting something into the watercooler automatically fills it
-sp {execute*op_put-down1*apply*simulate-put-down-command*in1*cooler*dispense
-   (state <s> ^name op_put-down1
-              ^operator <o>
-              ^top-state.perception-monitor.object-monitor.object-info <obj-info>)
-   (<o> ^name simulate-put-down-command
-        ^command <cmd>)
-   (<cmd> ^object <vessel>
-          ^destination <dp>)
-   (<dp> ^handle in1
-         ^{2}.root-category cooler1)
-   (<vessel> ^predicates.affordance1 fillable1)
-   (<obj-info> ^input-link-obj.source-obj.predicates <src-preds>
-               ^world-obj <vessel>)
-   (<src-preds> ^contents1 empty1)
--->
-   (<src-preds> ^contents1 empty1 -
-                ^contents1 water1)
-}
-
-### Reject move if the relation is already satisfied
-sp {execute*action*reject*op_move1*if*relation*satisfied
-   (state <s> ^problem-space.subproblem execute
-             -^child-task-segment
-              ^operator <o> +
-              ^world.predicates.predicate <pred>)
-   (<o> ^name op_move1
-        ^arg1.id <obj1>
-        ^arg2 <arg2>)
-   (<arg2> ^handle <pred-h>
-           ^2 <obj2>)
-   (<pred> ^handle <pred-h>
-           ^instance <i>)
-   (<i> ^1 <obj1> ^2 <obj2>)
--->
-   (<s> ^operator <o> -)
-}
-
-### Reject any task with 'from' if the object is not there
-sp {execute*action*reject*subtask*if*from*relation*not*satisfied
-   (state <s> ^problem-space.subproblem execute
-             -^child-task-segment
-              ^operator <o> +
-              ^world.predicates <preds>)
-   (<o> ^item-type task-operator
-        ^<arg1-name> <arg1>
-        ^<arg2-name> <arg2>)
-   (<arg1> ^arg-type object
-           ^id <obj1>)
-   (<arg2> ^arg-type partial-predicate
-           ^handle from1
-           ^2 <obj2>)
-  -{(<preds> ^predicate <pred>)
-    (<pred> ^instance <i>)
-    (<i> ^1 <obj1> ^2 <obj2>)}
--->
-   (<s> ^operator <o> -)
-}
-
-### Rules for printing events
-sp {complete-push-task-segment*report*time*info
-   (state <s> ^name push-task-segment
-              ^operator.name complete-push-task-segment
-              ^segment-to-push.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write (crlf) |$START-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {complete-pop-task-segment*report*time*info
-   (state <s> ^name pop-task-segment
-              ^operator.name complete-pop-task-segment
-              ^segment-to-pop.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write (crlf) |$END-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {search-for-next-subtask*start*report*time*info
-   (state <s> ^operator.name search-for-next-subtask
-              ^superstate.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>
-             -^reported-time)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write (crlf) |$BEGIN-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-   (<s> ^reported-time true)
-}
-
-sp {search-for-next-subtask*finish*report*time*info
-   (state <s> ^name search-for-next-subtask
-              ^superstate.superstate.task-operator.task-handle <task-h>
-              ^operator.name << return-successful-operator initiate-interaction >>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write (crlf) |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {apply*select-next-goal*report*goal*handle
-   (state <s> ^problem-space.subproblem execute
-              ^operator <o>
-              ^apply-select-next-goal true
-              ^task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<o> ^name select-next-goal
-        ^next-goal-handle <goal-h>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write (crlf) |$SELECTED-GOAL$ | <goal-h> | | <steps> | | <ms> (crlf))
-}
diff --git a/python/rosie/evaluation/move-variations/script.txt b/python/rosie/evaluation/move-variations/script.txt
deleted file mode 100644
index 71f6b4871e..0000000000
--- a/python/rosie/evaluation/move-variations/script.txt
+++ /dev/null
@@ -1,137 +0,0 @@
-########### TRAINING #############
-Move the fork onto the table.
-The only goal is that the fork is on the table.
-
-
-########### TEST 1 #############
-# start-clause: clocktime
-!CMD set-time 8 10 .
-test-task1.
-At 8:15, move the mug onto the table.
-You are done.
-
-# test
-Move the mug into the pantry.
-Close the pantry.
-!CMD set-time 8 10 .
-test-task1.
-
-
-########### TEST 2 #############
-# start-clause: duration
-test-task2.
-After five minutes, move the cup onto the counter.
-You are done.
-
-# test
-Move the cup onto the table.
-test-task2.
-
-
-########### TEST 3 #############
-# start-clause: condition
-test-task3.
-Move a plate onto the table.
-When the dinner is finished, move the plate into the sink.
-The dinner is finished.
-You are done.
-
-# test
-Move the plate into the pantry.
-test-task3.
-The dinner is finished.
-
-
-########### TEST 4 #############
-# end-clause: condition - use as action model
-test-task4 the green mug with water.
-The only goal is that the green mug contains water.
-If the drink is water then move the green mug into the watercooler until the green mug contains water.
-
-# test
-Pick up the green mug.
-Pour the green mug into the sink.
-test-task4 the green mug with water.
-
-Move the green mug onto the table.
-
-
-########### TEST 5 #############
-# conditional actions
-test-task5 the fork.
-If the fork is a utensil then first move the fork into the drawer.
-Close the drawer.
-You are done.
-
-test-task5 the ketchup.
-If the ketchup is a condiment then first move the ketchup into the fridge.
-Close the fridge.
-You are done.
-
-# test
-test-task5 the spoon.
-test-task5 the mustard.
-
-
-########### TEST 6 #############
-# Repeat 3 times
-test-task6 the mug.
-Move the mug into the pantry for three times.
-You are done.
-
-# test
-test-task6 the cup.
-
-
-########### TEST 7 #############
-# Put inside a repeat loop (Move 2 condiments onto the table)
-test-task7 the table.
-Repeat the following task for two times.
-Move a condiment onto the table.
-Repeat.
-You are done.
-
-# test
-Move the ketchup onto the counter.
-Move the mustard into the fridge.
-
-test-task7 the table.
-
-
-########### TEST 8 #############
-# Put inside a while loop - 'clear the table'
-Move the white plate onto the table. 
-Move the blue plate onto the table.
-
-test-task8 the table.
-Repeat the following task while the plate is on the table.
-Move a plate into the sink from the table.
-Repeat
-You are done.
-
-# test
-Move the white plate onto the table. 
-Move the blue plate onto the table.
-
-test-task8 the table.
-
-
-########### TEST 9 #############
-# Put inside an until loop - 'clear the table'
-Move the white plate onto the table. 
-Move the blue plate onto the table.
-
-test-task9 the table.
-Repeat the following task until the table is clear. 
-Move an object into the sink from the table.
-Repeat
-You are done.
-
-# test
-Move the green mug onto the table. 
-Move the blue cup onto the table.
-Move the spoon onto the table.
-
-test-task9 the table.
-
-!CMD cli stop
diff --git a/python/rosie/evaluation/move-variations/smem-config.txt b/python/rosie/evaluation/move-variations/smem-config.txt
deleted file mode 100644
index 91ed16ebf8..0000000000
--- a/python/rosie/evaluation/move-variations/smem-config.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-# Any additional smem concepts not included in rosie/agent/_smem_config.txt
-
diff --git a/python/rosie/evaluation/move-variations/world.info b/python/rosie/evaluation/move-variations/world.info
deleted file mode 100644
index de88204a36..0000000000
--- a/python/rosie/evaluation/move-variations/world.info
+++ /dev/null
@@ -1,33 +0,0 @@
-robot 4 4 0.0
-
-# Simple Kitchen
-
-# Room 1: Kitchen
-#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
-Fridge               0.60  0.52  0.00    90   0.80  1.00  2.00               0
-Sink                 1.95  0.52  0.50    90   0.80  1.50  0.50               0
-Cupboard             3.30  0.52  0.00    90   0.80  1.00  0.90               0
-Counter              4.05  0.52  0.91    90   0.80  2.50  0.10               0
-Drawer               4.50  0.52  0.70    90   0.80  1.00  0.20               0
-Table                1.00  5.48  0.00   270   0.80  1.80  1.00               0
-Pantry               5.48  5.00  0.00   180   0.80  1.80  2.00               0
-
-SimObject ketchup1   1.20  5.25  1.02     0   0.15  0.15  0.40  255   0   0  3 grabbable color=red1 cylinder
-SimObject mustard1   1.50  5.25  1.02     0   0.15  0.15  0.40  255 255   0  3 grabbable color=yellow1 cylinder
-SimObject fork1      4.00  0.55  1.02     0   0.10  0.20  0.10   50  50  50  2 grabbable color=gray1
-SimObject spoon1     4.20  0.55  1.02     0   0.10  0.20  0.10   50  50  50  2 grabbable color=gray1
-Mug                  3.50  0.55  1.02     0   0.20  0.20  0.20    0 255   0  2 grabbable color=green1
-Cup                  0.50  5.25  1.02     0   0.20  0.20  0.20   50  50 255  2 grabbable color=blue1
-SimObject plate1     5.25  4.75  0.50     0   0.40  0.40  0.10  255 255 255  3 grabbable color=white1 cylinder
-SimObject plate1     5.25  5.25  0.50     0   0.40  0.40  0.10   80  80 255  3 grabbable color=blue1 cylinder
-Cooler     auto      2.80  5.60  0.01   270   0.80  0.80  2.00               1 temp_id=cooler1
-
-region 1 3 3 0 6 6 
-
-wallchain 4
-  -0.12 -0.12
-  -0.12  6.12
-   6.12  6.12
-   6.12 -0.12
-  -0.12 -0.12
-
diff --git a/python/rosie/evaluation/rand-move/Makefile b/python/rosie/evaluation/rand-move/Makefile
deleted file mode 100644
index dad4a76e3f..0000000000
--- a/python/rosie/evaluation/rand-move/Makefile
+++ /dev/null
@@ -1,56 +0,0 @@
-AGENT_NAME=rand-move
-
-ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
-
-all: world rand-move.script ${ROSIE_CONFIG}
-
-
-# Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
-
-run_mobile_sim: ${AGENT_NAME}.world
-	mkdir -p output
-	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
-
-run_rosie: waypoint-map.soar internal-world.soar rand-move.script ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} ${AGENT_TYPE} > output/rosie_output.txt &
-
-
-# agent/rosie.rand-move.config: Configures the rosie soar agent that will be sourced to run
-${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar rand-move.script
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
-
-# rand-move.script: Makes the script to be used during the evaluation -- given the number of moves to do
-rand-move.script: generate_script.py
-	python3 generate_script.py 100
-
-#### Generating World/Map Files
-
-world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
-
-# ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
-${AGENT_NAME}.world: world.info
-	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
-
-# The internal world used during simulation
-internal-world.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --internal --output-dir .
-
-# The connected waypoint map
-waypoint-map.soar: world.info
-	python3 -m rosie.tools.mapmaker world.info --map --output-dir .
-
-
-#### Clean all files
-
-clean:
-	rm -rf agent
-	rm -rf output
-	rm -rf __pycache__
-	rm -f ${AGENT_NAME}.world
-	rm -f waypoint-map.soar
-	rm -f internal-world.soar
-	rm -f ${AGENT_NAME}.log
-
-
diff --git a/python/rosie/evaluation/rand-move/README b/python/rosie/evaluation/rand-move/README
deleted file mode 100644
index 45f9c92543..0000000000
--- a/python/rosie/evaluation/rand-move/README
+++ /dev/null
@@ -1,29 +0,0 @@
-rand-move evaluation
-Aaron Mininger
-
-# Setup
-
-6 objects, 6 places to put objects (2 surfaces, 2 receptacles, 2 receptacles with doors)
-
-# Test Script
-
-Issue N move commands, with the object and destination randomized. 
-If moving into a closeable receptacle, close the door with 50% chance. 
-Add a random teleport command to move 1 object to another place. 
-
-# Running (2 versions)
-
-This evaluation has the agent perform many move commands in a row. 
-
-### Version 1: Normal Agent
-
-$> make run_evaluation
-
-
-### Version 2: Lesioned Agent
-# This will do the same tasks but without being able to do planning/learning within innate tasks
-
-$> make run_evaluation AGENT_TYPE=lesioned
-
-
-
diff --git a/python/rosie/evaluation/rand-move/__main__.py b/python/rosie/evaluation/rand-move/__main__.py
deleted file mode 100644
index 63d79b1a7f..0000000000
--- a/python/rosie/evaluation/rand-move/__main__.py
+++ /dev/null
@@ -1,35 +0,0 @@
-import sys
-import os
-
-from tkinter import Tk
-
-from rosie import RosieGUI
-from mobilesim.rosie import MobileSimAgent
-
-def launch_gui(rosie_config, lesioned):
-    root = Tk()
-    eval_agent = MobileSimAgent(rosie_config)
-    eval_gui = RosieGUI(eval_agent, master=root)
-    if "lesioned" in sys.argv:
-        eval_agent.execute_command("source lesioned-agent-rules.soar", print_res=True)
-    eval_gui.run()
-
-def main():
-    # Running with argument lesioned will disable learning in innate tasks
-    lesioned = ("lesioned" in sys.argv)
-
-    # Lookup $ROSIE_HOME
-    rosie_home = ""
-    if "ROSIE_HOME" in os.environ:
-        rosie_home = os.environ["ROSIE_HOME"]
-    else:
-        print("ERROR: Requires ROSIE_HOME environment variable set")
-        return
-
-    AGENT_NAME = "rand-move"
-    rosie_config = rosie_home + "/python/rosie/evaluation/" + AGENT_NAME + "/agent/rosie." + AGENT_NAME + ".config"
-
-    launch_gui(rosie_config, lesioned)
-
-if __name__ == "__main__":
-    main()
diff --git a/python/rosie/evaluation/rand-move/agent.config b/python/rosie/evaluation/rand-move/agent.config
deleted file mode 100644
index e28f7d81c7..0000000000
--- a/python/rosie/evaluation/rand-move/agent.config
+++ /dev/null
@@ -1,136 +0,0 @@
-####
-# agent-name = <string>
-#   OPTIONAL: default is the name of the config file (minus extension)
-# The name of the agent, used to identify other config files in the directory
-
-agent-name = rand-move
-
-
-####
-# agent-dir = <path> (Relative to the directory this file is in)
-#   OPTIONAL: default is the directory this config file is in
-# The directory to create the agent directory in
-
-# agent-dir = 
-
-
-####
-# domain = << magicbot tabletop internal fetch >>
-#   REQUIRED
-# Which domain this agent is operating in (determines how perception/action is handled)
-# Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
-
-# Provided by the code creating the agent
-# domain = magicbot
-
-
-####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-#simulate-perception = true
-
-
-####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
-
-parser = laird
-
-
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-#internal-world-file = internal-world.soar
-
-
-####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
-
-#waypoint-map-file = waypoint-map.soar
-
-
-####
-# sentence-source = << chat scripts >>
-#   OPTIONAL: Default is chat
-# Where new sentences come from (either chat interface or internal automated scripts)
-# Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
-
-sentence-source = chat
-
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-use-script-connector = true
-
-####
-# sentences-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.sentences
-# A file with a list of sentences (one per line) to send to the agent
-#   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
-#   If sentence-source = chat, this will create message buttons on the chat panel
-
-sentences-file = rand-move.script
-
-
-
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
-
-#####
-# extra-rosie-files 
-# One or more full paths relative to $ROSIE_HOME/agent separated by semicolons
-# Will source these files too
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
-
-####
-# Other Settings
-# Any additional settings here will be put into the autogenerated rosie.config file
-
-spawn-debugger = false
-
-enable-log = true
-log-filename = output/rand-move.log
-
-watch-level = 1
-
-reconfig-on-launch = true
-
-find-help = custom
-
diff --git a/python/rosie/evaluation/rand-move/extra-smem-adds.soar b/python/rosie/evaluation/rand-move/extra-smem-adds.soar
deleted file mode 100644
index d74334f2be..0000000000
--- a/python/rosie/evaluation/rand-move/extra-smem-adds.soar
+++ /dev/null
@@ -1,15 +0,0 @@
-
-## RELATIONS USED IN MOBILE DOMAIN FOR EVALUATION
-smem --add {
-
-(@on1 ^relation <501000x> <501000y> <501000z> )
-   (<501000x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000z> ^avg 0.005 ^axis z ^bottom 0.00001 ^count 3 ^squaredsum 0.0 ^sum 0.0 ^top 0.1 ^type greater )
-
-(@in1 ^relation <501001x> <501001y> <501001z> )
-   (<501001x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-
-}
diff --git a/python/rosie/evaluation/rand-move/extra-soar-rules.soar b/python/rosie/evaluation/rand-move/extra-soar-rules.soar
deleted file mode 100644
index db5cd2e612..0000000000
--- a/python/rosie/evaluation/rand-move/extra-soar-rules.soar
+++ /dev/null
@@ -1,150 +0,0 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-#       ^report-tasks-to-output-link true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator interpret-message retrospective-learning
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-
-#       ^all-objects-reachable true
-   )
-}
-
-source internal-world.soar
-source waypoint-map.soar
-
-#sp {DEBUG*interrupt*top-selection*evaluate-operator*find
-#   (state <s> ^name selection
-#              ^top-selection true
-#              ^operator <o>)
-#   (<o> ^name evaluate-operator
-#        ^evaluation.superoperator.name op_find1)
-#-->
-#   (interrupt)
-#}
-
-#explain all on
-
-### Override the default search depth
-sp {search-for-next-subtask*elaborate*search-phase-info
-   (state <s> ^name search-for-next-subtask)
--->
-   (<s> ^number-phases 2
-        ^search-phase-info <p1> <p2>)
-   # First phase - only consider subtasks with all objects in common with the current task
-   (<p1> ^num 1 ^max-depth 8 ^require-all-objects-match 1)
-
-   # Second phase - level 1: any subtasks, level 2: subtasks with 1+ matching objects, 
-   #                level 3-4: only subtasks matching all objects
-   (<p2> ^num 2 ^max-depth 8 ^require-matching-object 2 ^require-all-objects-match 3)
-}
-
-sp {top-state*elaborate*agent-params*task
-   (state <s> ^superstate nil
-              ^agent-params <params>)
--->
-   # Max search depth to use when doing iterative deepending search during task planning
-   # This searching is done in three phases, with different levels of specificity 
-   (<params> ^retrospective-search-depth 8   # Max depth to search during retrospective learning
-   )
-}
-
-### Default relations
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
-   (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-}
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*magicbot
-   (state <s> ^superstate nil
-              ^agent-params.domain magicbot
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   # Extract predicates via SVS
-   (<pred-mon> ^predicate-info.predicate-handle in1)
-   (<pred-mon> ^predicate-info.predicate-handle on1)
-
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-}
-
-
-#sp {DEBUG*monitor*control-law*status
-#   (state <s> ^superstate nil
-#              ^io.output-link.do-control-law <law>)
-#   (<law> ^name <name>
-#          ^status <status>)
-#-->
-#   (write (crlf) |STATUS OF CONTROL LAW | <name> | is | <status> (crlf))
-#}
-
-
-### PRINT EVENT INFO
-
-sp {complete-push-task-segment*report*time*info
-   (state <s> ^name push-task-segment
-              ^operator.name complete-push-task-segment
-              ^segment-to-push.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$START-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {complete-pop-task-segment*report*time*info
-   (state <s> ^name pop-task-segment
-              ^operator.name complete-pop-task-segment
-              ^segment-to-pop.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$END-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
-sp {search-for-next-subtask*start*report*time*info
-   (state <s> ^operator.name search-for-next-subtask
-              ^superstate.task-operator.task-handle <task-h>
-              ^io.input-link.time <t>
-             -^reported-time)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$BEGIN-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-   (<s> ^reported-time true)
-}
-
-sp {search-for-next-subtask*finish*report*time*info
-   (state <s> ^name search-for-next-subtask
-              ^superstate.superstate.task-operator.task-handle <task-h>
-              ^operator.name << return-successful-operator initiate-interaction >>
-              ^io.input-link.time <t>)
-   (<t> ^steps <steps>
-        ^milliseconds <ms>)
--->
-   (write |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
-}
-
diff --git a/python/rosie/evaluation/rand-move/generate_script.py b/python/rosie/evaluation/rand-move/generate_script.py
deleted file mode 100644
index 8c6b8fa4a1..0000000000
--- a/python/rosie/evaluation/rand-move/generate_script.py
+++ /dev/null
@@ -1,52 +0,0 @@
-import random
-import sys
-
-object_ids = dict( (name, i+1) for i, name in enumerate(["fridge", "sink", "counter", "table", "pantry", "garbage", "apple", "soda", "mug", "fork", "water", "ketchup" ]) )
-
-# 1 argument (optional) - length of script (number of moves to do)
-NUM_MOVES = 10 if len(sys.argv) == 1 else int(sys.argv[1])
-
-objects = [ "apple", "soda", "mug", "water", "fork", "ketchup" ]
-locations = [ "fridge", "sink", "counter", "table", "pantry", "garbage" ]
-
-surfaces = [ "counter", "table" ]
-receptacles = [ "fridge", "sink", "pantry", "garbage" ]
-doors = ["fridge", "pantry"]
-
-obj_positions = { "apple": "table", "soda": "table", 
-            "fork": "counter", "mug": "counter",
-            "ketchup": "fridge", "water": "fridge" }
-
-def get_rand_move():
-    obj = random.choice(objects)
-    loc = random.choice(locations)
-    while obj_positions[obj] == loc:
-        loc = random.choice(locations)
-    prep = "into" if loc in receptacles else "onto"
-    return (obj, prep, loc)
-
-
-sentences = []
-for i in range(NUM_MOVES):
-    # Generate a random move command
-    obj, prep, loc = get_rand_move()
-    sentences.append("Move the {} {} the {}.".format(obj, prep, loc))
-    if i == 0:
-        # First time only -- give the goal
-        sentences.append("The only goal is that the {} is {} the {}.".format(obj, prep[0:2], loc))
-    obj_positions[obj] = loc
-
-    # Randomly relocate one of the objects
-    obj, rel, loc = get_rand_move()
-    rel = rel[0:2] + "1"
-    sentences.append("!CMD place {} {} {}".format(object_ids[obj], rel, object_ids[loc]))
-    obj_positions[obj] = loc
-
-    # With a 33% probability, close one the of the doors
-    if random.randint(0, 3) == 0: 
-        door = random.choice(doors)
-        sentences.append("!CMD close {}".format(object_ids[door]))
-
-with open("rand-move.script", 'w') as f:
-    f.write("\n".join(sentences))
-
diff --git a/python/rosie/evaluation/rand-move/lesioned-agent-rules.soar b/python/rosie/evaluation/rand-move/lesioned-agent-rules.soar
deleted file mode 100644
index f904bb6fdc..0000000000
--- a/python/rosie/evaluation/rand-move/lesioned-agent-rules.soar
+++ /dev/null
@@ -1,419 +0,0 @@
-##### Extra rules for the lesioned agent variation
-
-### First: All preconditions are more strict,
-# So they are only proposed if the corresponding command would immediately work
-
-### OPEN
-sp {problem-space*action*propose-subtasks*propose*op_open1
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects.object <obj>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 openable1
-            ^is-open1 not-open1
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_open1 
-         ^item-type task-operator
-         ^task-handle open1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-# CLOSE
-sp {problem-space*action*propose-subtasks*propose*op_close1
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects.object <obj>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 openable1
-            ^is-open1 open2
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_close1 
-         ^item-type task-operator
-         ^task-handle close1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-### TURN ON
-sp {problem-space*action*propose-subtasks*propose*op_turn-on1
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects.object <obj>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 activatable1
-            ^is-activated1 not-activated1
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_turn-on1 
-         ^item-type task-operator
-         ^task-handle turn-on1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-### TURN OFF
-sp {problem-space*action*propose-subtasks*propose*op_turn-off1
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects.object <obj>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 activatable1
-            ^is-activated1 activated1
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_turn-off1 
-         ^item-type task-operator
-         ^task-handle turn-off1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-### PICK UP
-
-# Propose pick-up for an object not inside a receptacle
-sp {problem-space*action*propose*op_pick-up1
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects.object <obj>
-        ^predicates.predicate <in-pred>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 grabbable1
-            ^is-grabbed1 not-grabbed1
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
-   (<in-pred> ^handle in1)
-   -{(<in-pred> ^instance <i>)
-     (<i> ^1 <obj> ^{2}.predicates.affordance1 receptacle1)}
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_pick-up1 
-         ^item-type task-operator
-         ^task-handle pick-up1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-# Propose pick-up for an object in a receptacle that doesn't have a door
-sp {problem-space*action*propose*op_pick-up1*inside*receptacle
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects <objs>
-        ^predicates.predicate <in-pred>)
-   (<objs> ^object <obj> <rec>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 grabbable1
-            ^is-grabbed1 not-grabbed1
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
-   (<rec> ^predicates <rec-preds>)
-   (<rec-preds> ^affordance1 receptacle1
-                ^affordance1 always-open1)
-   (<in-pred> ^handle in1
-              ^instance <i>)
-   (<i> ^1 <obj> ^2 <rec>)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_pick-up1 
-         ^item-type task-operator
-         ^task-handle pick-up1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-# Propose pick-up for an object inside an open receptacle
-sp {problem-space*action*propose*op_pick-up1*inside*open*receptacle
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<w> ^robot.arm.holding-object false
-        ^objects <objs>
-        ^predicates.predicate <in-pred>)
-   (<objs> ^object <obj> <rec>)
-   (<obj> ^predicates <preds>)
-   (<preds> ^affordance1 grabbable1
-            ^is-grabbed1 not-grabbed1
-            ^is-visible1 visible1
-            ^is-reachable1 reachable1)
-   (<rec> ^predicates <rec-preds>)
-   (<rec-preds> ^affordance1 openable1
-                ^is-open1 open2)
-   (<in-pred> ^handle in1
-              ^instance <i>)
-   (<i> ^1 <obj> ^2 <rec>)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_pick-up1 
-         ^item-type task-operator
-         ^task-handle pick-up1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-### PUT DOWN
-
-# put down on the ground
-sp {problem-space*action*propose*op_put-down1*on*ground
-   (state <s> ^problem-space <ps>
-              ^world <w>)
-   (<w> ^objects.object <obj>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<obj> ^predicates.is-grabbed1 grabbed1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_put-down1
-         ^item-type task-operator
-         ^task-handle put-down1
-         ^arg1 <arg1>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-}
-
-# put-down on surface (e.g. table, countertop)
-sp {problem-space*action*propose*op_put-down1*on1*surface1
-   (state <s> ^problem-space <ps>
-              ^world.objects.object <obj>
-              ^world.objects.object { <obj2> <> <obj> })
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<obj> ^predicates.is-grabbed1 grabbed1)
-   (<obj2> ^predicates <obj-preds>)
-   (<obj-preds> ^affordance1 surface1
-                ^is-visible1 visible1
-                ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_put-down1
-         ^item-type task-operator
-         ^task-handle put-down1
-         ^arg1 <arg1>
-         ^arg2 <arg2>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-   (<arg2> ^arg-type partial-predicate
-           ^handle on1
-           ^2 <obj2>)
-}
-
-# put-down inside receptacle without a door (e.g. sink)
-sp {problem-space*action*propose*op_put-down1*in1*receptacle
-   (state <s> ^problem-space <ps>
-              ^world.objects.object <obj>
-              ^world.objects.object { <obj2> <> <obj> })
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<obj> ^predicates.is-grabbed1 grabbed1)
-   (<obj2> ^predicates <obj2-preds>)
-   (<obj2-preds> ^affordance1 receptacle1
-                 ^affordance1 always-open1
-                 ^is-visible1 visible1
-                 ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_put-down1
-         ^item-type task-operator
-         ^task-handle put-down1
-         ^arg1 <arg1>
-         ^arg2 <arg2>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-   (<arg2> ^arg-type partial-predicate
-           ^handle in1
-           ^2 <obj2>)
-}
-
-# Put down inside a receptacle that can be closed (but is currently open)
-sp {problem-space*action*propose*op_put-down1*in1*open*openable*receptacle
-   (state <s> ^problem-space <ps>
-              ^world.objects.object <obj>
-              ^world.objects.object { <obj2> <> <obj> })
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<obj> ^predicates.is-grabbed1 grabbed1)
-   (<obj2> ^predicates <obj2-preds>)
-   (<obj2-preds> ^affordance1 openable1
-                 ^affordance1 receptacle1
-                 ^is-open1 open2
-                 ^is-visible1 visible1
-                 ^is-reachable1 reachable1)
--->
-   (<s> ^operator <op> +)
-   (<op> ^name op_put-down1
-         ^item-type task-operator
-         ^task-handle put-down1
-         ^arg1 <arg1>
-         ^arg2 <arg2>)
-   (<arg1> ^arg-type object
-           ^id <obj>)
-   (<arg2> ^arg-type partial-predicate
-           ^handle in1
-           ^2 <obj2>)
-}
-
-### propose put-down on a block
-sp {problem-space*action*propose*op_put-down1*on*block
-   (state <s> ^problem-space <ps>
-              ^world.objects <objs>)
-   (<ps> ^name action
-         ^propose-subtasks true)
-   (<objs> ^object <obj1> { <obj2> <> <obj1> })
-   (<obj1> ^predicates.is-grabbed1 grabbed1)
-   (<obj2> ^predicates <obj2-preds>)
-   (<obj2-preds> ^category block
-                 ^is-visible1 visible1
-                 ^is-reachable1 reachable1)
--->
-   (<s> ^operator <o> +)
-   (<o> ^name op_put-down1
-        ^item-type task-operator
-        ^task-handle put-down1
-        ^arg1 <arg1>
-        ^arg2 <arg2>)
-   (<arg1> ^arg-type object
-           ^id <obj1>)
-   (<arg2> ^arg-type partial-predicate
-           ^handle on1
-           ^2 <obj2>)
-}
-
-
-### Second: extra action models are needed to prevent search inside of innate tasks
-
-### VIEW: 
-
-# Change other objects to not-visible
-sp {problem-space*action*internal*apply*op_view1*make*others*not-visible
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <op>
-              ^world.objects.object <obj>)
-   (<op> ^name op_view1
-         ^arg1.id { <target> <> <obj> })
-   (<obj> ^predicates <preds>)
-   (<preds> ^category << object person >>
-           -^affordance1 grabbable1
-            ^is-visible1 visible1)
--->
-   (<preds> ^is-visible1 not-visible1
-            ^is-visible1 visible1 -)
-}
-
-# Only make a grabbable object not-visible if it is not currently grabbed
-sp {problem-space*action*internal*apply*op_view1*make*grabbable*others*not-visible
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <op>
-              ^world.objects.object <obj>)
-   (<op> ^name op_view1
-         ^arg1.id { <target> <> <obj> })
-   (<obj> ^predicates <preds>)
-   (<preds> ^is-visible1 visible1
-            ^affordance1 grabbable1
-            ^is-grabbed1 not-grabbed1)
--->
-   (<preds> ^is-visible1 not-visible1
-            ^is-visible1 visible1 -)
-}
-
-#### Change other objects to not reachable
-
-sp {problem-space*action*internal*apply*op_view1*make*non-grabbable*not-reachable
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <op>
-              ^world.objects.object <obj>)
-   (<op> ^name op_view1
-         ^arg1.id { <target> <> <obj> })
-   (<obj> ^predicates <preds>)
-   (<preds> ^is-reachable1 reachable1
-           -^affordance1 grabbable1)
--->
-   (<preds> ^is-reachable1 not-reachable1
-            ^is-reachable1 reachable1 -)
-}
-
-sp {problem-space*action*internal*apply*op_view1*make*grabbable*not-reachable
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <op>
-              ^world.objects.object <obj>)
-   (<op> ^name op_view1
-         ^arg1.id { <target> <> <obj> })
-   (<obj> ^predicates <preds>)
-   (<preds> ^is-reachable1 reachable1
-            ^affordance1 grabbable1
-           -^is-grabbed1 grabbed1)
--->
-   (<preds> ^is-reachable1 not-reachable1
-            ^is-reachable1 reachable1 -)
-}
-
-### APPROACH
-
-sp {problem-space*action*internal*apply*op_approach1*make*non-grabbable*not-reachable
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <op>
-              ^world.objects.object <obj>)
-   (<op> ^name op_approach1
-         ^arg1.id { <target> <> <obj> })
-   (<obj> ^predicates <preds>)
-   (<preds> ^is-reachable1 reachable1
-           -^affordance1 grabbable1)
--->
-   (<preds> ^is-reachable1 not-reachable1
-            ^is-reachable1 reachable1 -)
-}
-
-sp {problem-space*action*internal*apply*op_approach1*make*grabbable*not-reachable
-   (state <s> ^problem-space.name action
-              ^problem-space.execution-type internal
-              ^operator <op>
-              ^world.objects.object <obj>)
-   (<op> ^name op_approach1
-         ^arg1.id { <target> <> <obj> })
-   (<obj> ^predicates <preds>)
-   (<preds> ^is-reachable1 reachable1
-            ^affordance1 grabbable1
-           -^is-grabbed1 grabbed1)
--->
-   (<preds> ^is-reachable1 not-reachable1
-            ^is-reachable1 reachable1 -)
-}
diff --git a/python/rosie/evaluation/rand-move/rand-move.script b/python/rosie/evaluation/rand-move/rand-move.script
deleted file mode 100644
index 683501a356..0000000000
--- a/python/rosie/evaluation/rand-move/rand-move.script
+++ /dev/null
@@ -1,223 +0,0 @@
-Move the ketchup onto the table.
-The only goal is that the ketchup is on the table.
-!CMD place 10 in1 5
-!CMD close 1
-Move the soda into the garbage.
-!CMD place 9 in1 1
-!CMD close 5
-Move the fork into the sink.
-!CMD place 11 in1 5
-Move the apple onto the counter.
-!CMD place 10 in1 6
-Move the mug into the garbage.
-!CMD place 8 on1 4
-Move the fork into the fridge.
-!CMD place 9 in1 2
-Move the apple into the fridge.
-!CMD place 9 in1 6
-!CMD close 1
-Move the apple into the pantry.
-!CMD place 10 in1 2
-!CMD close 1
-Move the ketchup into the pantry.
-!CMD place 10 on1 3
-!CMD close 1
-Move the soda into the garbage.
-!CMD place 9 in1 1
-!CMD close 5
-Move the ketchup into the garbage.
-!CMD place 7 in1 6
-Move the fork into the garbage.
-!CMD place 8 on1 3
-Move the apple onto the counter.
-!CMD place 11 in1 1
-Move the water into the sink.
-!CMD place 10 in1 1
-Move the mug into the pantry.
-!CMD place 7 in1 5
-!CMD close 1
-Move the mug into the sink.
-!CMD place 9 in1 5
-Move the ketchup into the fridge.
-!CMD place 7 on1 4
-Move the water into the fridge.
-!CMD place 9 on1 4
-Move the ketchup into the sink.
-!CMD place 11 in1 5
-Move the mug into the pantry.
-!CMD place 12 on1 4
-Move the mug onto the counter.
-!CMD place 7 in1 5
-Move the water onto the table.
-!CMD place 11 in1 5
-!CMD close 5
-Move the fork onto the counter.
-!CMD place 8 in1 1
-Move the soda onto the table.
-!CMD place 12 in1 2
-Move the ketchup into the pantry.
-!CMD place 9 in1 2
-Move the water into the sink.
-!CMD place 8 in1 2
-Move the mug onto the counter.
-!CMD place 12 on1 3
-!CMD close 1
-Move the mug into the sink.
-!CMD place 9 in1 6
-!CMD close 5
-Move the apple into the sink.
-!CMD place 12 in1 2
-Move the fork into the sink.
-!CMD place 11 in1 1
-Move the apple into the garbage.
-!CMD place 8 on1 4
-Move the water into the garbage.
-!CMD place 11 in1 1
-!CMD close 1
-Move the apple onto the table.
-!CMD place 11 on1 4
-Move the soda onto the counter.
-!CMD place 7 in1 2
-Move the ketchup into the fridge.
-!CMD place 7 in1 5
-Move the water into the fridge.
-!CMD place 9 in1 2
-Move the water onto the table.
-!CMD place 8 in1 5
-Move the fork into the pantry.
-!CMD place 12 on1 3
-Move the fork into the fridge.
-!CMD place 12 on1 4
-Move the fork onto the table.
-!CMD place 11 in1 5
-!CMD close 5
-Move the soda onto the table.
-!CMD place 10 in1 2
-!CMD close 1
-Move the apple onto the counter.
-!CMD place 10 on1 3
-Move the mug into the fridge.
-!CMD place 10 in1 6
-Move the fork onto the table.
-!CMD place 11 in1 1
-Move the water into the sink.
-!CMD place 10 in1 2
-Move the soda into the fridge.
-!CMD place 8 on1 4
-Move the fork into the garbage.
-!CMD place 7 in1 1
-Move the water into the fridge.
-!CMD place 8 on1 3
-Move the mug into the garbage.
-!CMD place 11 on1 3
-Move the ketchup into the fridge.
-!CMD place 8 in1 6
-Move the soda into the sink.
-!CMD place 12 in1 2
-Move the mug into the pantry.
-!CMD place 8 in1 6
-!CMD close 5
-Move the mug into the sink.
-!CMD place 11 in1 2
-Move the ketchup onto the counter.
-!CMD place 9 on1 3
-Move the water onto the table.
-!CMD place 8 on1 4
-Move the soda into the pantry.
-!CMD place 10 in1 1
-!CMD close 1
-Move the soda into the garbage.
-!CMD place 12 in1 6
-Move the water into the pantry.
-!CMD place 10 on1 4
-Move the apple into the pantry.
-!CMD place 12 in1 1
-Move the water into the garbage.
-!CMD place 8 in1 2
-Move the mug into the fridge.
-!CMD place 10 in1 5
-Move the apple onto the counter.
-!CMD place 8 in1 1
-Move the fork into the garbage.
-!CMD place 11 in1 1
-Move the ketchup onto the table.
-!CMD place 9 in1 6
-Move the apple into the fridge.
-!CMD place 12 in1 5
-!CMD close 5
-Move the mug into the pantry.
-!CMD place 8 in1 6
-Move the apple onto the table.
-!CMD place 11 in1 6
-Move the mug into the sink.
-!CMD place 12 on1 4
-Move the fork onto the table.
-!CMD place 7 on1 3
-Move the apple into the fridge.
-!CMD place 10 in1 5
-Move the ketchup into the sink.
-!CMD place 7 in1 2
-Move the ketchup onto the counter.
-!CMD place 11 in1 2
-Move the mug into the fridge.
-!CMD place 7 in1 1
-!CMD close 1
-Move the water into the fridge.
-!CMD place 12 in1 5
-!CMD close 1
-Move the apple into the sink.
-!CMD place 7 in1 6
-Move the ketchup into the sink.
-!CMD place 7 on1 4
-Move the soda into the fridge.
-!CMD place 12 in1 1
-Move the fork into the sink.
-!CMD place 7 in1 2
-Move the soda into the garbage.
-!CMD place 12 in1 5
-Move the fork onto the counter.
-!CMD place 11 on1 3
-Move the soda into the sink.
-!CMD place 10 in1 5
-Move the ketchup onto the counter.
-!CMD place 12 in1 2
-Move the apple into the fridge.
-!CMD place 9 on1 3
-!CMD close 1
-Move the fork onto the counter.
-!CMD place 8 on1 3
-Move the fork onto the table.
-!CMD place 9 in1 6
-Move the mug into the fridge.
-!CMD place 9 in1 6
-Move the water into the garbage.
-!CMD place 10 on1 3
-Move the soda into the garbage.
-!CMD place 8 in1 5
-!CMD close 1
-Move the mug onto the table.
-!CMD place 7 in1 6
-Move the ketchup into the fridge.
-!CMD place 10 on1 4
-Move the water into the fridge.
-!CMD place 11 in1 2
-!CMD close 5
-Move the fork into the fridge.
-!CMD place 11 in1 1
-Move the mug into the sink.
-!CMD place 9 in1 6
-!CMD close 5
-Move the ketchup onto the table.
-!CMD place 12 on1 3
-Move the water onto the counter.
-!CMD place 11 in1 5
-Move the apple onto the counter.
-!CMD place 11 in1 2
-Move the fork into the garbage.
-!CMD place 8 on1 3
-Move the apple into the sink.
-!CMD place 8 in1 6
-Move the fork into the fridge.
-!CMD place 9 in1 1
-Move the ketchup into the fridge.
-!CMD place 11 in1 1
\ No newline at end of file
diff --git a/python/rosie/evaluation/rand-move/smem-config.txt b/python/rosie/evaluation/rand-move/smem-config.txt
deleted file mode 100644
index b038093e44..0000000000
--- a/python/rosie/evaluation/rand-move/smem-config.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-include-file init-smem/actions.soar
-include-file init-smem/concepts.soar
-include-file init-smem/properties.soar
-include-file init-smem/relations.soar
-
-config-file init-smem/smem-common.txt
-config-file init-smem/category-ontology.txt
-
-template name _HANDLE_ _WORDTYPE_ _WORD_* {
-	# These are adjectives that are used as names
-    soar1 ADJ soar
-    april1 ADJ april
-    main1 ADJ main
-    copy1 ADJ copy
-    conference1 ADJ conference
-}
-
-template proper-name _HANDLE_ _WORD_* {
-    alice1 alice
-    bob1 bob
-    charlie1 charlie
-	mary1 mary
-}
-
-template possessive _HANDLE_ _WORD_* {
-    alices1 alice's
-    bobs1 bob's
-    charlies1 charlie's
-	marys1 mary's
-}
-
-template category _HANDLE_ _WORD_ _SUPER_ _AFFORDANCE_* {
-	chef1 chef person
-}
diff --git a/python/rosie/evaluation/rand-move/testing.script b/python/rosie/evaluation/rand-move/testing.script
deleted file mode 100644
index 7df963f810..0000000000
--- a/python/rosie/evaluation/rand-move/testing.script
+++ /dev/null
@@ -1,8 +0,0 @@
-Scan.
-View the fridge.
-Approach the fridge.
-Open the fridge.
-View the fork. 
-Approach the fork. 
-Move the fork into the fridge.
-The only goal is that the fork is in the fridge.
diff --git a/python/rosie/evaluation/rand-move/world.info b/python/rosie/evaluation/rand-move/world.info
deleted file mode 100644
index c138f901ee..0000000000
--- a/python/rosie/evaluation/rand-move/world.info
+++ /dev/null
@@ -1,29 +0,0 @@
-robot 3.0 3.0 0.0
-
-# Test environment used for Aaron's evaluation involving moving random objects around the kitchen
-
-# Room 1: Kitchen
-#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
-Fridge               0.60  0.42  0.01    90   0.60  1.00  2.00               0
-Sink                 1.95  0.42  0.51    90   0.60  1.50  0.50               0
-Counter              3.80  0.42  0.01    90   0.60  2.00  1.00               0
-Table                1.00  5.58  0.01   270   0.60  1.80  1.00               0
-Pantry               5.58  4.98  0.01   180   0.60  1.80  2.00               0
-Garbage              5.58  3.00  0.01   180   0.60  1.50  0.60   80 150  80  0
-
-SimObject apple1     0.80  5.50  1.05     0   0.20  0.20  0.20  255   0   0  3 sphere grabbable color=red1
-SimObject soda1      1.20  5.50  1.05     0   0.20  0.20  0.40    0   0 255  3 cylinder grabbable color=blue1
-SimObject mug1       3.50  0.55  1.05     0   0.20  0.20  0.20    0 255   0  3 cylinder grabbable color=green1
-SimObject fork1      4.00  0.55  1.05     0   0.10  0.20  0.10   50  50  50  2 grabbable color=gray1
-SimObject water1     0.30  0.50  0.51     0   0.20  0.20  0.40  200 200 200  3 cylinder grabbable color=white1
-SimObject ketchup1   0.70  0.50  0.51     0   0.20  0.20  0.40  255   0   0  3 cylinder grabbable color=red1
-
-region 1 3 3 0 6 6 
-
-wallchain 4
-  0 0
-  0 6
-  6 6
-  6 0
-  0 0
-
diff --git a/python/rosie/evaluation/serve/extra-smem-adds.soar b/python/rosie/evaluation/serve/extra-smem-adds.soar
deleted file mode 100644
index fbf503cc84..0000000000
--- a/python/rosie/evaluation/serve/extra-smem-adds.soar
+++ /dev/null
@@ -1,92 +0,0 @@
-# office objects
-smem --add {
-
-	# Kitchen
-	(<kit> ^handle loc-kitchen1 ^object-instance true ^item-type object ^waypoint wp01
-		^category entity1 location room1 kitchen1 ^root-category kitchen1)
-		
-	# Main Office
-	(<main> ^handle loc-main1 ^object-instance true ^item-type object ^waypoint wp02
-		^category entity1 location room1 office1 ^root-category office1 ^name main1)
-		
-	# Conference Room
-	(<conf> ^handle loc-conf1 ^object-instance true ^item-type object ^waypoint wp03
-		^category entity1 location room1 ^root-category room1 ^name conference1)
-		
-	# Copy Room
-	(<copy> ^handle loc-copy1 ^object-instance true ^item-type object ^waypoint wp04
-		^category entity1 location room1 ^root-category room1 ^name copy1)
-		
-	# Alice's office
-	(<aloff> ^handle loc-alice-off1 ^object-instance true ^item-type object ^waypoint wp05
-		^category entity1 location room1 office1 ^root-category office1 ^possessive alices1 ^owner1 person-alice1)
-		
-	# Bob's office
-	(<boboff> ^handle loc-bob-off1 ^object-instance true ^item-type object ^waypoint wp06
-		^category entity1 location room1 office1 ^root-category office1 ^possessive bobs1 ^owner1 person-bob1)
-		
-	# Charlie's office
-	(<choff> ^handle loc-charlie-off1 ^object-instance true ^item-type object ^waypoint wp07
-		^category entity1 location room1 office1 ^root-category office1 ^possessive charlies1 ^owner1 person-charlie1)
-		
-	# North Hallway
-	(<north> ^handle loc-north-hall1 ^object-instance true ^item-type object ^waypoint wp08
-		^category entity1 location hall1 ^root-category hall1 ^cardinal-direction1 north1)
-		
-	# Central Hallway
-	(<north> ^handle loc-north-hall1 ^object-instance true ^item-type object ^waypoint wp09
-		^category entity1 location hall1 ^root-category hall1 ^relative-direction1 central1)
-		
-	# South Hallway
-	(<south> ^handle loc-south-hall1 ^object-instance true ^item-type object ^waypoint wp10
-		^category entity1 location hall1 ^root-category hall1 ^cardinal-direction1 south1)
-
-	# Alice
-	(<alice> ^handle person-alice1 ^object-instance true ^item-type object
-		^category entity1 person ^root-category person ^name alice1)
-		
-	# Bob
-	(<bob> ^handle person-bob1 ^object-instance true ^item-type object
-		^category entity1 person ^root-category person ^name bob1)
-		
-	# Charlie
-	(<charlie> ^handle person-charlie1 ^object-instance true ^item-type object
-		^category entity1 person ^root-category person ^name charlie1)
-		
-	# Chef (Mary)
-	(<chef> ^handle person-chef1 ^object-instance true ^item-type object
-		^category entity1 person chef1 ^root-category chef1 ^name mary1)
-}
-
-## RELATIONS USED IN MOBILE DOMAIN FOR EVALUATION
-smem --add {
-(@on1 ^relation <501000x> <501000y> <501000z> )
-   (<501000x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501000z> ^avg 0.005 ^axis z ^bottom 0.00001 ^count 3 ^squaredsum 0.0 ^sum 0.0 ^top 0.1 ^type greater )
-
-(@in1 ^relation <501001x> <501001y> <501001z> )
-   (<501001x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-   (<501001z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-
-#(@right-of1 ^relation <501002x> <501002y> <501002z>)
-#   (<501002x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501002y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type less )
-#   (<501002z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   
-#(@left-of1 ^relation <501003x> <501003y> <501003z>)
-#   (<501003x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501003y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
-#   (<501003z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#
-#(@behind1 ^relation <501014x> <501014y> <501014z>)
-#   (<501014x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
-#   (<501014y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501014z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   
-#(@infront1 ^relation <501016x> <501016y> <501016z>)
-#   (<501016x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.1 ^top 4.0 ^type less )
-#   (<501016y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-#   (<501016z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
-}
diff --git a/python/rosie/evaluation/serve/smem-config.txt b/python/rosie/evaluation/serve/smem-config.txt
deleted file mode 100644
index 03161c6a8e..0000000000
--- a/python/rosie/evaluation/serve/smem-config.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-template name _HANDLE_ _WORDTYPE_ _WORD_* {
-	# These are adjectives that are used as names
-    soar1 ADJ soar
-    april1 ADJ april
-    main1 ADJ main
-    copy1 ADJ copy
-    conference1 ADJ conference
-}
-
-template proper-name _HANDLE_ _WORD_* {
-    alice1 alice
-    bob1 bob
-    charlie1 charlie
-	mary1 mary
-}
-
-template possessive _HANDLE_ _WORD_* {
-    alices1 alice's
-    bobs1 bob's
-    charlies1 charlie's
-	marys1 mary's
-}
-
-template category _HANDLE_ _WORD_ _SUPER_ _AFFORDANCE_* {
-	chef1 chef person
-}
diff --git a/source-rosie-env.sh b/source-rosie-env.sh
index c71faf4a28..9d4cf6f82c 100644
--- a/source-rosie-env.sh
+++ b/source-rosie-env.sh
@@ -8,7 +8,6 @@ export CLASSPATH=$CLASSPATH:$ROSIE_HOME/tools/antlr-4.5-complete.jar
 
 export PYTHONPATH=$PYTHONPATH:$ROSIE_HOME/python
 
-export ROSIE_EVAL=$ROSIE_HOME/python/rosie/evaluation
 export ROSIE_TESTS=$ROSIE_HOME/test-agents/task-tests
 
 
@@ -62,10 +61,10 @@ alias run_task_learning_tests="$ROSIE_HOME/tools/scripts/run_task_learning_tests
 complete -F _task_tests_completion run_task_learning_tests
 
 
-### run_rosie_eval <eval-name>
-# Runs one of the evaluations in python/rosie/evaluation
-alias run_rosie_eval="$ROSIE_HOME/tools/scripts/run_rosie_eval.sh"
-complete -F _rosie_evaluations_completion run_rosie_eval
+### run_rosie_example <example-name>
+# Runs one of the examples in python/rosie/example
+alias run_rosie_example="$ROSIE_HOME/tools/scripts/run_rosie_example.sh"
+complete -F _rosie_examples_completion run_rosie_example
 
 
 ###### Other Useful Scripts ######
diff --git a/tools/scripts/custom_completions.sh b/tools/scripts/custom_completions.sh
index 0781eaeae7..1176a5997f 100755
--- a/tools/scripts/custom_completions.sh
+++ b/tools/scripts/custom_completions.sh
@@ -22,12 +22,12 @@ _task_tests_completion()
 	COMPREPLY=( $(compgen -W "$(find $ROSIE_HOME/test-agents/task-tests/* -maxdepth 0 -type d -printf '%f ')" -- $cur) )
 }
 
-# Autocomplete evaluations in $ROSIE_HOME/python/rosie/evaluation/
-_rosie_evaluations_completion()
+# Autocomplete examples in $ROSIE_HOME/examples
+_rosie_examples_completion()
 {
 	local cur=${COMP_WORDS[COMP_CWORD]}
-	# Find all directories in rosie/evaluation
-	COMPREPLY=( $(compgen -W "$(find $ROSIE_HOME/python/rosie/evaluation/* -maxdepth 0 -type d -printf '%f ')" -- $cur) )
+	# Find all directories in rosie/examples
+	COMPREPLY=( $(compgen -W "$(find $ROSIE_HOME/examples/* -maxdepth 0 -type d -printf '%f ')" -- $cur) )
 }
 
 
diff --git a/tools/scripts/run_rosie_example.sh b/tools/scripts/run_rosie_example.sh
new file mode 100755
index 0000000000..33b923fecc
--- /dev/null
+++ b/tools/scripts/run_rosie_example.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+# Usage: run_rosie_example [example-name]
+
+cd $ROSIE_HOME/examples/$1
+make run_example $2 $3

From 29388e33db2ddc3bdec260ccac683da5e4414879 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Wed, 21 Apr 2021 09:46:25 -0400
Subject: [PATCH 04/34] Updated the template directory

---
 examples/template/Makefile              |  11 +-
 examples/template/agent.config          |   9 +-
 examples/template/correct-output.txt    |  28 +++++
 examples/template/extra-soar-rules.soar |   2 +
 examples/template/run_agent.py          |   8 +-
 examples/template/script.txt            |  77 +-------------
 examples/template/test-script.txt       |  66 ------------
 examples/template/test.config           | 130 ++++++++++++++++++++++++
 examples/template/world.info            |   2 +-
 9 files changed, 182 insertions(+), 151 deletions(-)
 create mode 100644 examples/template/correct-output.txt
 delete mode 100644 examples/template/test-script.txt
 create mode 100644 examples/template/test.config

diff --git a/examples/template/Makefile b/examples/template/Makefile
index d416648241..f5eb5c581f 100644
--- a/examples/template/Makefile
+++ b/examples/template/Makefile
@@ -1,6 +1,7 @@
 AGENT_NAME=template
 
 ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
+TEST_CONFIG=test-agent/rosie.${AGENT_NAME}.config
 
 all: world ${ROSIE_CONFIG}
 
@@ -14,19 +15,24 @@ run_mobile_sim: ${AGENT_NAME}.world
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
+	#java soargroup.rosie.RosieGUI ${ROSIE_CONFIG}
 	python3 run_agent.py > output/rosie_output.txt &
 
-run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
+run_test: waypoint-map.soar internal-world.soar ${TEST_CONFIG} 
 	mkdir -p output
 	python3 run_agent.py --test
 	echo "########### DIFF ##########"
 	diff output/test-output.txt correct-output.txt
 
 
-# agent/rosie.tourguide.config: Configures the rosie soar agent that will be sourced to run
+# agent/rosie.template.config: Configures the rosie soar agent that will be sourced to run
 ${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
 	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
 
+# test-agent/rosie.template.config: Configures the rosie soar agent that will be sourced for the test
+${TEST_CONFIG}: test.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator test.config
+
 
 #### Generating World/Map Files
 
@@ -49,6 +55,7 @@ waypoint-map.soar: world.info
 
 clean:
 	rm -rf agent
+	rm -rf test-agent
 	rm -rf output
 	rm -rf __pycache__
 	rm -f ${AGENT_NAME}.world
diff --git a/examples/template/agent.config b/examples/template/agent.config
index 70f76e7702..03c94da8b2 100644
--- a/examples/template/agent.config
+++ b/examples/template/agent.config
@@ -3,7 +3,7 @@
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
 
-agent-name = tourguide
+agent-name = template
 
 
 ####
@@ -11,7 +11,7 @@ agent-name = tourguide
 #   OPTIONAL: default is the directory this config file is in
 # The directory to create the agent directory in
 
-# agent-dir = 
+agent-dir = agent
 
 
 ####
@@ -20,8 +20,7 @@ agent-name = tourguide
 # Which domain this agent is operating in (determines how perception/action is handled)
 # Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
 
-# Provided by the code creating the agent
-#domain = magicbot
+domain = magicbot
 
 
 ####
@@ -82,7 +81,7 @@ sentences-file = script.txt
 # use-script-connector will automatically send messages in the sentences-file to Rosie, 
 #	but can also do external commands such as modifying the simulator
 # This must be used with sentence-source = chat
-use-script-connector = true
+#use-script-connector = true
 
 
 ####
diff --git a/examples/template/correct-output.txt b/examples/template/correct-output.txt
new file mode 100644
index 0000000000..9214499026
--- /dev/null
+++ b/examples/template/correct-output.txt
@@ -0,0 +1,28 @@
+R: "I'm ready for a new task"
+I: "Move the mug onto the table."
+> move1(green mug, on1(table))
+R: "What is the next goal or subtask of move?"
+I: "The only goal is that the mug is on the table."
+  > pick-up1(green mug)
+    > approach1(green mug)
+    < approach1(green mug)
+  < pick-up1(green mug)
+  > put-down1(green mug, on1(table))
+    > approach1(table)
+    < approach1(table)
+  < put-down1(green mug, on1(table))
+< move1(green mug, on1(table))
+R: "I'm ready for a new task"
+I: "Store the mug."
+> store1(green mug)
+R: "What is the next goal or subtask of store?"
+I: "The only goal is that the mug is in the pantry."
+  > pick-up1(green mug)
+  < pick-up1(green mug)
+  > put-down1(green mug, in1(pantry))
+    > approach1(pantry)
+    < approach1(pantry)
+  < put-down1(green mug, in1(pantry))
+< store1(green mug)
+R: "I'm ready for a new task"
+I: "!CMD stop"
diff --git a/examples/template/extra-soar-rules.soar b/examples/template/extra-soar-rules.soar
index f619ce186a..9315b7aabb 100644
--- a/examples/template/extra-soar-rules.soar
+++ b/examples/template/extra-soar-rules.soar
@@ -25,6 +25,8 @@ sp {top-state*elaborate*agent-params*custom
    )
 }
 
+svs --enable
+
 source internal-world.soar
 source waypoint-map.soar
 
diff --git a/examples/template/run_agent.py b/examples/template/run_agent.py
index b5b4060fc6..ac884ef4fc 100644
--- a/examples/template/run_agent.py
+++ b/examples/template/run_agent.py
@@ -17,25 +17,25 @@ def main():
         print("ERROR: Requires ROSIE_HOME environment variable set")
         return
 
-    AGENT_NAME = "tourguide"
+    AGENT_NAME = "template"
     agent_dir = rosie_home + "/examples/" + AGENT_NAME 
-    rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
 
     if "--test" in sys.argv:
+        rosie_config = agent_dir + "/test-agent/rosie." + AGENT_NAME + ".config"
         run_test(rosie_config)
     else:
+        rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
         launch_gui(rosie_config)
 
 def launch_gui(rosie_config):
     root = Tk()
     rosie_agent = MobileSimAgent(rosie_config)
-    rosie_agent.messages.append("!CMD cli pc -f")
     rosie_gui = RosieGUI(rosie_agent, master=root)
     rosie_gui.run()
 
 def run_test(rosie_config):
     rosie_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0, messages_file="test-script.txt")
+            task_test_output_filename='output/test-output.txt', watch_level=0)
     rosie_agent.run_test('correct-output.txt')
 
 
diff --git a/examples/template/script.txt b/examples/template/script.txt
index 64d87be421..5cc55d652f 100644
--- a/examples/template/script.txt
+++ b/examples/template/script.txt
@@ -1,77 +1,8 @@
-Permanently remember the fridge as the storage location of a soda.
-Permanently remember the fridge as the storage location of a water.
-Permanently remember the fridge as the storage location of a juice.
+Move the mug onto the table.
+The only goal is that the mug is on the table.
 
-Guide Alice.
-
-# Goal-based task: serve
-Serve Alice
-The goal is that Alice is holding the desired drink.
-Ask Alice "What drink would you like?"
-A soda.
-Remember the answer as the desired drink.
-The fridge is in the kitchen.
-Permanently remember the desired drink as the preferred drink of Alice.
-You are done.
-
-# Procedural steps
-Say "Follow me to the lab"
-!CMD SKIP
-Go to the lab. 
-!CMD TELEPORT 16 14 10 0.9 wp04
-
-# Composite goal
-Complete the following tasks.
-Say "To the right are the computer workstations".
-!CMD SKIP
-Say "On the left is the workbench".
-!CMD SKIP
-Say "The red cabinet contains various tools".
-!CMD SKIP
-You are done.
-
-# Procedural step
-Say "Feel free to look around and let me know when you are done".
-!CMD SKIP
-
-# Maintenance task
-Follow Alice.
-The only goal is that Alice is always visible.
-
-# Move Alice around
-!CMD TELEPORT 16 10 12.5 0.9
-!CMD SKIP
-!CMD TELEPORT 16 14 10 0.9
-!CMD SKIP
-!CMD TELEPORT 16 12 7 0.9
-!CMD SKIP
-Finished.
-
-Say "Follow me back to the main office".
-!CMD SKIP
-Go to the main office.
-!CMD TELEPORT 16 14 3 0.9 wp02
-You are done.
-
-
-#### TESTING TASK
-
-Guide Bob.
-A water.
-
-!CMD SKIP
-!CMD TELEPORT 17 14 10 0.9 wp04
-!CMD SKIP
-!CMD SKIP
-!CMD SKIP
-!CMD TELEPORT 17 10 12.5 0.9
-!CMD SKIP
-!CMD TELEPORT 17 14 10 0.9
-!CMD SKIP
-!CMD TELEPORT 17 12 7 0.9
-!CMD SKIP
-Finished.
-!CMD SKIP
+Store the mug.
+The only goal is that the mug is in the pantry.
 
 ### END
 !CMD stop
diff --git a/examples/template/test-script.txt b/examples/template/test-script.txt
deleted file mode 100644
index 69e044205c..0000000000
--- a/examples/template/test-script.txt
+++ /dev/null
@@ -1,66 +0,0 @@
-Permanently remember the fridge as the storage location of a soda.
-Permanently remember the fridge as the storage location of a water.
-Permanently remember the fridge as the storage location of a juice.
-
-Guide Alice.
-
-# Goal-based task: serve
-Serve Alice
-The goal is that Alice is holding the desired drink.
-Ask Alice "What drink would you like?"
-A soda.
-Remember the answer as the desired drink.
-The fridge is in the kitchen.
-Permanently remember the desired drink as the preferred drink of Alice.
-You are done.
-
-# Procedural steps
-Say "Follow me to the lab"
-!CMD SKIP
-Go to the lab. 
-!CMD TELEPORT 16 14 10 0.9 wp04
-
-# Composite goal
-Complete the following tasks.
-Say "To the right are the computer workstations".
-!CMD SKIP
-Say "On the left is the workbench".
-!CMD SKIP
-Say "The red cabinet contains various tools".
-!CMD SKIP
-You are done.
-
-# Procedural step
-Say "Feel free to look around and let me know when you are done".
-!CMD SKIP
-
-# Maintenance task
-Follow Alice.
-The only goal is that Alice is always visible.
-
-# Move Alice around
-Finished.
-
-Say "Follow me back to the main office".
-!CMD SKIP
-Go to the main office.
-!CMD TELEPORT 16 14 3 0.9 wp02
-You are done.
-
-
-#### TESTING TASK
-
-Guide Bob.
-A water.
-
-!CMD SKIP
-!CMD TELEPORT 17 14 10 0.9 wp04
-!CMD SKIP
-!CMD SKIP
-!CMD SKIP
-!CMD SKIP
-Finished.
-!CMD SKIP
-
-### END
-!CMD stop
diff --git a/examples/template/test.config b/examples/template/test.config
new file mode 100644
index 0000000000..d23f84d09d
--- /dev/null
+++ b/examples/template/test.config
@@ -0,0 +1,130 @@
+###
+# agent-name = <string>
+#   OPTIONAL: default is the name of the config file (minus extension)
+# The name of the agent, used to identify other config files in the directory
+
+agent-name = template
+
+
+####
+# agent-dir = <path> (Relative to the directory this file is in)
+#   OPTIONAL: default is the directory this config file is in
+# The directory to create the agent directory in
+
+agent-dir = test-agent
+
+
+####
+# domain = << magicbot tabletop internal fetch >>
+#   REQUIRED
+# Which domain this agent is operating in (determines how perception/action is handled)
+# Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
+
+domain = internal
+
+
+####
+# simulate-perception = << true false >>
+#   OPTIONAL: default is false
+# Only relevant when the domain is internal
+# If true, the agent will do additional processing to better simulate perception
+
+simulate-perception = true
+
+
+####
+# parser = << laird lucia >>
+#   OPTIONAL: Default is laird
+# Which parser will be used to interpret new messages
+# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
+
+parser = laird
+
+
+####
+# internal-world-file = <filename>
+#   OPTIONAL: default is none
+# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
+# Used to create a simulated copy of the world on the top-state
+# Only relevant when the domain is internal
+
+#internal-world-file = internal-world.soar
+
+
+####
+# waypoint-map-file = <filename>
+#   OPTIONAL: default is none
+# Will source the file in agent/manage-world-state/world/maps/<filename>
+# Defines a waypoint map used by the agent for navigation
+
+#waypoint-map-file = waypoint-map.soar
+
+
+####
+# sentence-source = << chat scripts >>
+#   OPTIONAL: Default is chat
+# Where new sentences come from (either chat interface or internal automated scripts)
+# Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
+
+sentence-source = chat
+
+
+####
+# sentences-file = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>.sentences
+# A file with a list of sentences (one per line) to send to the agent
+#   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
+#   If sentence-source = chat, this will create message buttons on the chat panel
+
+sentences-file = script.txt
+
+# use-script-connector will automatically send messages in the sentences-file to Rosie, 
+#	but can also do external commands such as modifying the simulator
+# This must be used with sentence-source = chat
+use-script-connector = true
+
+
+####
+# smem-config-file = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>.smem
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+
+smem-config-file = smem-config.txt
+
+
+####
+# custom-soar-file  = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>.soar
+# A soar file that will be sourced when the agent loads
+#   (can contain soar code specialized to this particular agent)
+
+custom-soar-file = extra-soar-rules.soar
+
+
+####
+# custom-smem-file  = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
+# A soar file containing smem add commands that will be sourced when the agent loads
+#   (can contain smem information specialized to this particular agent)
+
+custom-smem-file = extra-smem-adds.soar
+
+
+
+#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
+
+####
+# Other Settings
+# Any additional settings here will be put into the autogenerated rosie.config file
+
+spawn-debugger = false
+
+enable-log = true
+log-filename = output/agent-output.log
+
+watch-level = 1
+
+reconfig-on-launch = true
+
+find-help = script
diff --git a/examples/template/world.info b/examples/template/world.info
index 3dd10cb36e..fed745e15e 100644
--- a/examples/template/world.info
+++ b/examples/template/world.info
@@ -1,4 +1,4 @@
-robot 10 3 0.0
+robot 3 3 0.0
 
 # Building Map with 4 rooms along a single vertical hallway
 

From 90ebe302f9bb952d8c2f21224b8a9bb2f18e88f6 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Fri, 30 Apr 2021 12:55:55 -0400
Subject: [PATCH 05/34] Working on tweaking how the rosie agent is configured

---
 .../internal-worlds/barracks.soar             |   1 +
 .../internal-worlds/blocksworld.soar          |   1 +
 .../internal-worlds/debug_proc_learn.soar     |   1 +
 .../internal-worlds/dev.soar                  |   1 +
 .../internal-worlds/kitchen_plus.soar         |   1 +
 .../internal-worlds/lucia_testing.soar        |   1 +
 .../internal-worlds/office4.soar              |  61 +--
 .../internal-worlds/simple_kitchen.soar       |   1 +
 .../internal-worlds/simple_kitchen_jule.soar  |   1 +
 python/rosie/testing/__main__.py              |   2 +-
 python/rosie/tools/mapmaker/__main__.py       |  26 +-
 python/rosie/tools/mapmaker/sim_objects.py    |   8 +-
 source-rosie-env.sh                           |   6 +-
 test-agents/task-tests/internal-world.soar    | 161 ++++++
 test-agents/task-tests/kitchen/kitchen.config |  55 +-
 test-agents/task-tests/testing-rules.soar     |   3 +-
 test-agents/task-tests/waypoint-map.soar      |  92 ++++
 test-agents/task-tests/world.info             | 127 +++++
 .../tools/config/RosieAgentConfigurator.java  | 131 ++---
 .../umich/rosie/tools/config/RosieConfig.java | 475 ++++++------------
 .../rosie/tools/config/SmemConfigurator.java  |  53 +-
 tools/scripts/build_agent.sh                  |   8 +-
 tools/scripts/custom_completions.sh           |  12 +-
 tools/scripts/run_task_learning_tests.sh      |   2 +-
 24 files changed, 691 insertions(+), 539 deletions(-)
 create mode 100644 test-agents/task-tests/internal-world.soar
 create mode 100644 test-agents/task-tests/waypoint-map.soar
 create mode 100644 test-agents/task-tests/world.info

diff --git a/agent/manage-world-state/internal-worlds/barracks.soar b/agent/manage-world-state/internal-worlds/barracks.soar
index ddff12ee09..078c392de7 100644
--- a/agent/manage-world-state/internal-worlds/barracks.soar
+++ b/agent/manage-world-state/internal-worlds/barracks.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*barracks
    (state <s> ^superstate nil
+              ^agent-params.domain internal
               ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/blocksworld.soar b/agent/manage-world-state/internal-worlds/blocksworld.soar
index 78a9d4017a..ebd341ed40 100644
--- a/agent/manage-world-state/internal-worlds/blocksworld.soar
+++ b/agent/manage-world-state/internal-worlds/blocksworld.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*blocksworld
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/debug_proc_learn.soar b/agent/manage-world-state/internal-worlds/debug_proc_learn.soar
index 853ac4c4d1..92654c9e8e 100644
--- a/agent/manage-world-state/internal-worlds/debug_proc_learn.soar
+++ b/agent/manage-world-state/internal-worlds/debug_proc_learn.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*debug_proc_learn
    (state <s> ^superstate nil
+              ^agent-params.domain internal
               ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/dev.soar b/agent/manage-world-state/internal-worlds/dev.soar
index 0b6374498d..be2818c28d 100644
--- a/agent/manage-world-state/internal-worlds/dev.soar
+++ b/agent/manage-world-state/internal-worlds/dev.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*dev
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/kitchen_plus.soar b/agent/manage-world-state/internal-worlds/kitchen_plus.soar
index 8305165af7..3b809430b3 100644
--- a/agent/manage-world-state/internal-worlds/kitchen_plus.soar
+++ b/agent/manage-world-state/internal-worlds/kitchen_plus.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*kitchen_plus
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/lucia_testing.soar b/agent/manage-world-state/internal-worlds/lucia_testing.soar
index 92e202ab7e..33f0403b21 100644
--- a/agent/manage-world-state/internal-worlds/lucia_testing.soar
+++ b/agent/manage-world-state/internal-worlds/lucia_testing.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*lucia_testing
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/office4.soar b/agent/manage-world-state/internal-worlds/office4.soar
index 2f16651a81..1835731b0f 100644
--- a/agent/manage-world-state/internal-worlds/office4.soar
+++ b/agent/manage-world-state/internal-worlds/office4.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*office4
    (state <s> ^superstate nil
+              ^agent-params.domain internal
               ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
@@ -10,123 +11,123 @@ sp {top-state*domain*internal*elaborate*internal-world*office4
         ^objects <objs>)
 
    (<objs> ^object <obj1>)
-   (<obj1> ^handle fridge1_1 ^waypoint wp01 ^predicates <obj1-preds>)
+   (<obj1> ^handle fridge1_1 ^perc-id |1| ^waypoint wp01 ^predicates <obj1-preds>)
    (<obj1-preds> ^category fridge1 ^is-open1 not-open1)
 
    (<objs> ^object <obj2>)
-   (<obj2> ^handle sink1_1 ^waypoint wp01 ^predicates <obj2-preds>)
+   (<obj2> ^handle sink1_2 ^perc-id |2| ^waypoint wp01 ^predicates <obj2-preds>)
    (<obj2-preds> ^category sink1)
 
    (<objs> ^object <obj3>)
-   (<obj3> ^handle cupboard1_1 ^waypoint wp01 ^predicates <obj3-preds>)
+   (<obj3> ^handle cupboard1_3 ^perc-id |3| ^waypoint wp01 ^predicates <obj3-preds>)
    (<obj3-preds> ^category cupboard1 ^is-open1 not-open1)
 
    (<objs> ^object <obj4>)
-   (<obj4> ^handle counter1_1 ^waypoint wp01 ^predicates <obj4-preds>)
+   (<obj4> ^handle counter1_4 ^perc-id |4| ^waypoint wp01 ^predicates <obj4-preds>)
    (<obj4-preds> ^category counter1)
 
    (<objs> ^object <obj5>)
-   (<obj5> ^handle microwave1_1 ^waypoint wp01 ^predicates <obj5-preds>)
+   (<obj5> ^handle microwave1_5 ^perc-id |5| ^waypoint wp01 ^predicates <obj5-preds>)
    (<obj5-preds> ^category microwave1 ^is-open1 not-open1)
 
    (<objs> ^object <obj6>)
-   (<obj6> ^handle drawer1_1 ^waypoint wp01 ^predicates <obj6-preds>)
+   (<obj6> ^handle drawer1_6 ^perc-id |6| ^waypoint wp01 ^predicates <obj6-preds>)
    (<obj6-preds> ^category drawer1 ^is-open1 not-open1)
 
    (<objs> ^object <obj7>)
-   (<obj7> ^handle table1_1 ^waypoint wp01 ^predicates <obj7-preds>)
+   (<obj7> ^handle table1_7 ^perc-id |7| ^waypoint wp01 ^predicates <obj7-preds>)
    (<obj7-preds> ^category table1)
 
    (<objs> ^object <obj8>)
-   (<obj8> ^handle pantry1_1 ^waypoint wp01 ^predicates <obj8-preds>)
+   (<obj8> ^handle pantry1_8 ^perc-id |8| ^waypoint wp01 ^predicates <obj8-preds>)
    (<obj8-preds> ^category pantry1 ^is-open1 open2)
 
    (<objs> ^object <obj9>)
-   (<obj9> ^handle lightswitch1_1 ^waypoint wp01 ^predicates <obj9-preds>)
+   (<obj9> ^handle lightswitch1_9 ^perc-id |9| ^waypoint wp01 ^predicates <obj9-preds>)
    (<obj9-preds> ^category lightswitch1 ^is-activated1 activated1)
 
    (<objs> ^object <obj10>)
-   (<obj10> ^handle soda1_1 ^waypoint wp01 ^predicates <obj10-preds>)
+   (<obj10> ^handle soda1_10 ^perc-id |10| ^waypoint wp01 ^predicates <obj10-preds>)
    (<obj10-preds> ^color blue1 ^category soda1)
 
    (<objs> ^object <obj11>)
-   (<obj11> ^handle juice1_1 ^waypoint wp01 ^predicates <obj11-preds>)
+   (<obj11> ^handle juice1_11 ^perc-id |11| ^waypoint wp01 ^predicates <obj11-preds>)
    (<obj11-preds> ^color orange1 ^category juice1)
 
    (<objs> ^object <obj12>)
-   (<obj12> ^handle person_1 ^waypoint wp01 ^predicates <obj12-preds>)
+   (<obj12> ^handle person_12 ^perc-id |12| ^waypoint wp01 ^predicates <obj12-preds>)
    (<obj12-preds> ^name mary1 ^category person)
 
    (<objs> ^object <obj13>)
-   (<obj13> ^handle person_2 ^waypoint wp01 ^predicates <obj13-preds>)
+   (<obj13> ^handle person_13 ^perc-id |13| ^waypoint wp01 ^predicates <obj13-preds>)
    (<obj13-preds> ^name bob1 ^category person)
 
    (<objs> ^object <obj14>)
-   (<obj14> ^handle desk1_1 ^waypoint wp02 ^predicates <obj14-preds>)
+   (<obj14> ^handle desk1_14 ^perc-id |14| ^waypoint wp02 ^predicates <obj14-preds>)
    (<obj14-preds> ^category desk1)
 
    (<objs> ^object <obj15>)
-   (<obj15> ^handle chair1_1 ^waypoint wp02 ^predicates <obj15-preds>)
+   (<obj15> ^handle chair1_15 ^perc-id |15| ^waypoint wp02 ^predicates <obj15-preds>)
    (<obj15-preds> ^color blue1 ^category chair1)
 
    (<objs> ^object <obj16>)
-   (<obj16> ^handle water1_1 ^waypoint wp02 ^predicates <obj16-preds>)
+   (<obj16> ^handle water1_16 ^perc-id |16| ^waypoint wp02 ^predicates <obj16-preds>)
    (<obj16-preds> ^color white1 ^category water1)
 
    (<objs> ^object <obj17>)
-   (<obj17> ^handle person_3 ^waypoint wp02 ^predicates <obj17-preds>)
+   (<obj17> ^handle person_17 ^perc-id |17| ^waypoint wp02 ^predicates <obj17-preds>)
    (<obj17-preds> ^name alice1 ^category person)
 
    (<objs> ^object <obj18>)
-   (<obj18> ^handle table1_2 ^waypoint wp03 ^predicates <obj18-preds>)
+   (<obj18> ^handle table1_18 ^perc-id |18| ^waypoint wp03 ^predicates <obj18-preds>)
    (<obj18-preds> ^category table1)
 
    (<objs> ^object <obj19>)
-   (<obj19> ^handle chair1_2 ^waypoint wp03 ^predicates <obj19-preds>)
+   (<obj19> ^handle chair1_19 ^perc-id |19| ^waypoint wp03 ^predicates <obj19-preds>)
    (<obj19-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj20>)
-   (<obj20> ^handle chair1_3 ^waypoint wp03 ^predicates <obj20-preds>)
+   (<obj20> ^handle chair1_20 ^perc-id |20| ^waypoint wp03 ^predicates <obj20-preds>)
    (<obj20-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj21>)
-   (<obj21> ^handle chair1_4 ^waypoint wp03 ^predicates <obj21-preds>)
+   (<obj21> ^handle chair1_21 ^perc-id |21| ^waypoint wp03 ^predicates <obj21-preds>)
    (<obj21-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj22>)
-   (<obj22> ^handle chair1_5 ^waypoint wp03 ^predicates <obj22-preds>)
+   (<obj22> ^handle chair1_22 ^perc-id |22| ^waypoint wp03 ^predicates <obj22-preds>)
    (<obj22-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj23>)
-   (<obj23> ^handle chair1_6 ^waypoint wp03 ^predicates <obj23-preds>)
+   (<obj23> ^handle chair1_23 ^perc-id |23| ^waypoint wp03 ^predicates <obj23-preds>)
    (<obj23-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj24>)
-   (<obj24> ^handle chair1_7 ^waypoint wp03 ^predicates <obj24-preds>)
+   (<obj24> ^handle chair1_24 ^perc-id |24| ^waypoint wp03 ^predicates <obj24-preds>)
    (<obj24-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj25>)
-   (<obj25> ^handle table1_3 ^waypoint wp04 ^predicates <obj25-preds>)
+   (<obj25> ^handle table1_25 ^perc-id |25| ^waypoint wp04 ^predicates <obj25-preds>)
    (<obj25-preds> ^category table1)
 
    (<objs> ^object <obj26>)
-   (<obj26> ^handle book1_1 ^waypoint wp04 ^predicates <obj26-preds>)
+   (<obj26> ^handle book1_26 ^perc-id |26| ^waypoint wp04 ^predicates <obj26-preds>)
    (<obj26-preds> ^color blue1 ^category book1)
 
    (<objs> ^object <obj27>)
-   (<obj27> ^handle papers1_1 ^waypoint wp04 ^predicates <obj27-preds>)
+   (<obj27> ^handle papers1_27 ^perc-id |27| ^waypoint wp04 ^predicates <obj27-preds>)
    (<obj27-preds> ^color white1 ^category papers1)
 
    (<objs> ^object <obj28>)
-   (<obj28> ^handle stapler1_1 ^waypoint wp04 ^predicates <obj28-preds>)
+   (<obj28> ^handle stapler1_28 ^perc-id |28| ^waypoint wp04 ^predicates <obj28-preds>)
    (<obj28-preds> ^color black1 ^category stapler1)
 
    (<objs> ^object <obj29>)
-   (<obj29> ^handle desk1_2 ^waypoint wp04 ^predicates <obj29-preds>)
+   (<obj29> ^handle desk1_29 ^perc-id |29| ^waypoint wp04 ^predicates <obj29-preds>)
    (<obj29-preds> ^category desk1)
 
    (<objs> ^object <obj30>)
-   (<obj30> ^handle chair1_8 ^waypoint wp04 ^predicates <obj30-preds>)
+   (<obj30> ^handle chair1_30 ^perc-id |30| ^waypoint wp04 ^predicates <obj30-preds>)
    (<obj30-preds> ^color blue1 ^category chair1)
 
 }
diff --git a/agent/manage-world-state/internal-worlds/simple_kitchen.soar b/agent/manage-world-state/internal-worlds/simple_kitchen.soar
index a6986a92eb..12e4bded1b 100644
--- a/agent/manage-world-state/internal-worlds/simple_kitchen.soar
+++ b/agent/manage-world-state/internal-worlds/simple_kitchen.soar
@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*simple_kitchen
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/agent/manage-world-state/internal-worlds/simple_kitchen_jule.soar b/agent/manage-world-state/internal-worlds/simple_kitchen_jule.soar
index 4ba3c8bc21..eb65526357 100644
--- a/agent/manage-world-state/internal-worlds/simple_kitchen_jule.soar
+++ b/agent/manage-world-state/internal-worlds/simple_kitchen_jule.soar
@@ -19,6 +19,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*simple_kitchen
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
diff --git a/python/rosie/testing/__main__.py b/python/rosie/testing/__main__.py
index 730ef31b8f..536d6ccce1 100644
--- a/python/rosie/testing/__main__.py
+++ b/python/rosie/testing/__main__.py
@@ -22,7 +22,7 @@
 # Flag: -v|--verbose will print output to standard out
 print_output = ('-v' in sys.argv or '--verbose' in sys.argv)
 
-agent = TestAgent(config_filename=rosie_home + "/test-agents/task-tests/" + test_name + "/agent/rosie." + test_name + ".config", 
+agent = TestAgent(config_filename=rosie_home + "/test-agents/task-tests/" + test_name + "/agent/rosie-client.config",
         write_to_stdout=print_output, source_output=("summary" if print_output else "none"))
 
 agent.run_test(rosie_home + "/test-agents/task-tests/" + test_name + "/correct-output.txt")
diff --git a/python/rosie/tools/mapmaker/__main__.py b/python/rosie/tools/mapmaker/__main__.py
index c148b49edd..90d1f990e4 100644
--- a/python/rosie/tools/mapmaker/__main__.py
+++ b/python/rosie/tools/mapmaker/__main__.py
@@ -18,26 +18,23 @@ def save_temp_file(temp_file, filename):
 
 if len(sys.argv) <= 1:
     print("python3 -m rosie.tools.mapmaker [map_info_file] [opts..]")
-    print("  map_file_file is a specification of the world to create in $ROSIE_HOME/tools/map_info")
+    print("  map_file_file is a specification of the world")
+    print("")
     print("Will generate a set of world/map files for a rosie environment")
+    print("  (By default it will create all 3, unless 1+ are specified)")
     print("  -w|--world    Will generate the mobilesim world files")
     print("  -m|--map      Will generate waypoint maps")
     print("  -i|--internal Will generate an internal world for rosie")
-    print("  By default it will create all 3, unless 1+ are specified")
     print("")
     print("  --output-dir <dir>  Will create the files in the given directory instead of the default")
-    print("  --agent-name <name>  Specifies the name to use when creating files instead of default")
+    print("  --agent-name <name>  Specifies the name to use when creating files instead of matching the map file name")
     print("")
     print("Example: python3 -m rosie.tools.mapmaker simple_office.info")
-    print("  Input File : $ROSIE_HOME/tools/map_info/simple_office.info")
-    print("")
     print("  Output File: $MOBILE_SIM_HOME/worlds/simple_office.world")
     print("  Output File: $ROSIE_HOME/agent/manage-world-state/waypoint-maps/simple_office.soar")
     print("  Output File: $ROSIE_HOME/agent/manage-world-state/internal-worlds/simple_office.soar")
     print("")
     print("Example: python3 -m rosie.tools.mapmaker simple_office.info --output_dir world_files")
-    print("  Input File : simple_office.info (Exists locally)")
-    print("")
     print("  Output File: world_files/simple_office.world")
     print("  Output File: world_files/waypoint-map.soar")
     print("  Output File: world_files/internal-world.soar")
@@ -75,23 +72,14 @@ def save_temp_file(temp_file, filename):
 
 #################### PARSE THE MAP_INFO FILE #######################
 
-# Read the file
-info_filename = rosie_home + "/tools/map_info/" + map_info
-
 # First try locally
 print("Parsing info file: " + map_info)
 try:
     world_info = parse_info_file(world_stem, map_info)
 except Exception as e:
-    world_info = None
-
-if world_info is None:
-    print("Parsing info file: " + info_filename)
-    try:
-        world_info = parse_info_file(world_stem, info_filename)
-    except Exception as e:
-        print(e)
-        sys.exit(0)
+    print(e)
+    sys.exit(0)
+
 print("Success!\n")
 
 
diff --git a/python/rosie/tools/mapmaker/sim_objects.py b/python/rosie/tools/mapmaker/sim_objects.py
index 6e797a7043..30f0c0a759 100644
--- a/python/rosie/tools/mapmaker/sim_objects.py
+++ b/python/rosie/tools/mapmaker/sim_objects.py
@@ -13,7 +13,7 @@ def __init__(self):
     # Instantiate the object by reading parameters from the reader
     # cat px py pz row sx sy sz r g b num_preds p1=v1 p2=v2 ...
     # (note that cat, pos, rot, scl can all be overriden by child class)
-    # Should return self
+    # !!! Should return self !!!
     def read_info(self, reader, scale=1.0):
         if not hasattr(self, 'cat'):
             self.cat = reader.nextWord()
@@ -34,7 +34,7 @@ def write_info(self, writer):
         self.write_color(writer)
         self.write_predicates(writer)
 
-    ### READ/WRITE the transform (pos/rot/scale)
+    ### READ/WRITE the transform (3 floats for pos, 1 float for rotation, 3 floats for scale)
 
     def read_transform(self, reader, scale):
         if not hasattr(self, 'pos'):
@@ -60,7 +60,7 @@ def write_transform(self, writer):
         writer.write("  %(x)s %(y)s %(z)s\n" % \
                 { "x": pf(self.scl[0]), "y": pf(self.scl[1]), "z": pf(self.scl[2]) })
 
-    ### READ/WRITE object predicates
+    ### READ/WRITE object predicates (an integer N followed by N words)
     
     def read_predicates(self, reader):
         # 1 int - number of predicates
@@ -94,7 +94,7 @@ def write_predicates(self, writer):
             else:
                 writer.write("    %s=%s\n" % (prop, val) )
 
-    ### READ/WRITE color
+    ### READ/WRITE color (3 int values)
     
     def read_color(self, reader):
         if not hasattr(self, 'rgb'):
diff --git a/source-rosie-env.sh b/source-rosie-env.sh
index 9d4cf6f82c..331145785e 100644
--- a/source-rosie-env.sh
+++ b/source-rosie-env.sh
@@ -30,14 +30,14 @@ source $ROSIE_HOME/tools/scripts/custom_completions.sh
 ### build_agent <agent>
 # Runs the RosieAgentConfigurator tool on the given test-agent
 alias build_agent="$ROSIE_HOME/tools/scripts/build_agent.sh"
-complete -F _rosie_agents_completion build_agent
+#complete -F _rosie_agents_completion build_agent
 
 
 ### make_rosie_world <map_info>
 # Will take the given map info file
 # and build map and world files for both rosie and the mobile simulator
-alias make_rosie_world="$ROSIE_HOME/tools/scripts/make_rosie_world.sh"
-complete -F _map_info_completion make_rosie_world
+alias make_rosie_world="python3 -m rosie.tools.mapmaker"
+#complete -F _map_info_completion make_rosie_world
 
 
 ### run_rosie <agent>
diff --git a/test-agents/task-tests/internal-world.soar b/test-agents/task-tests/internal-world.soar
new file mode 100644
index 0000000000..528eddcdd7
--- /dev/null
+++ b/test-agents/task-tests/internal-world.soar
@@ -0,0 +1,161 @@
+### Autogenerated world file from create_internal_world.py
+### Used to test actions in a simulated world
+
+sp {top-state*domain*internal*elaborate*internal-world*world
+   (state <s> ^superstate nil
+              ^agent-params.domain internal
+              ^agent-params.simulate-perception true)
+-->
+   (<s> ^internal-world <w>)
+   (<w> ^starting-location wp01
+        ^objects <objs>)
+
+   (<objs> ^object <obj1>)
+   (<obj1> ^handle fridge1_1 ^perc-id |1| ^waypoint wp01 ^predicates <obj1-preds>)
+   (<obj1-preds> ^category fridge1 ^is-open1 not-open1)
+
+   (<objs> ^object <obj2>)
+   (<obj2> ^handle sink1_2 ^perc-id |2| ^waypoint wp01 ^predicates <obj2-preds>)
+   (<obj2-preds> ^category sink1)
+
+   (<objs> ^object <obj3>)
+   (<obj3> ^handle cupboard1_3 ^perc-id |3| ^waypoint wp01 ^predicates <obj3-preds>)
+   (<obj3-preds> ^category cupboard1 ^is-open1 not-open1)
+
+   (<objs> ^object <obj4>)
+   (<obj4> ^handle counter1_4 ^perc-id |4| ^waypoint wp01 ^predicates <obj4-preds>)
+   (<obj4-preds> ^category counter1)
+
+   (<objs> ^object <obj5>)
+   (<obj5> ^handle microwave1_5 ^perc-id |5| ^waypoint wp01 ^predicates <obj5-preds>)
+   (<obj5-preds> ^category microwave1 ^is-open1 not-open1)
+
+   (<objs> ^object <obj6>)
+   (<obj6> ^handle drawer1_6 ^perc-id |6| ^waypoint wp01 ^predicates <obj6-preds>)
+   (<obj6-preds> ^category drawer1 ^is-open1 not-open1)
+
+   (<objs> ^object <obj7>)
+   (<obj7> ^handle table1_7 ^perc-id |7| ^waypoint wp01 ^predicates <obj7-preds>)
+   (<obj7-preds> ^category table1)
+
+   (<objs> ^object <obj8>)
+   (<obj8> ^handle pantry1_8 ^perc-id |8| ^waypoint wp01 ^predicates <obj8-preds>)
+   (<obj8-preds> ^category pantry1 ^is-open1 open2)
+
+   (<objs> ^object <obj9>)
+   (<obj9> ^handle garbage1_9 ^perc-id |9| ^waypoint wp01 ^predicates <obj9-preds>)
+   (<obj9-preds> ^category garbage1)
+
+   (<objs> ^object <obj10>)
+   (<obj10> ^handle lightswitch1_10 ^perc-id |10| ^waypoint wp01 ^predicates <obj10-preds>)
+   (<obj10-preds> ^category lightswitch1 ^is-activated1 not-activated1)
+
+   (<objs> ^object <obj11>)
+   (<obj11> ^handle apple1_11 ^perc-id |11| ^waypoint wp01 ^predicates <obj11-preds>)
+   (<obj11-preds> ^color red1 ^category apple1)
+
+   (<objs> ^object <obj12>)
+   (<obj12> ^handle soda1_12 ^perc-id |12| ^waypoint wp01 ^predicates <obj12-preds>)
+   (<obj12-preds> ^color blue1 ^category soda1)
+
+   (<objs> ^object <obj13>)
+   (<obj13> ^handle juice1_13 ^perc-id |13| ^waypoint wp01 ^predicates <obj13-preds>)
+   (<obj13-preds> ^color orange1 ^category juice1)
+
+   (<objs> ^object <obj14>)
+   (<obj14> ^handle mug1_14 ^perc-id |14| ^waypoint wp01 ^predicates <obj14-preds>)
+   (<obj14-preds> ^color green1 ^category mug1)
+
+   (<objs> ^object <obj15>)
+   (<obj15> ^handle fork1_15 ^perc-id |15| ^waypoint wp01 ^predicates <obj15-preds>)
+   (<obj15-preds> ^color gray1 ^category fork1)
+
+   (<objs> ^object <obj16>)
+   (<obj16> ^handle chef1_16 ^perc-id |16| ^waypoint wp01 ^predicates <obj16-preds>)
+   (<obj16-preds> ^name mary1 ^category chef1)
+
+   (<objs> ^object <obj17>)
+   (<obj17> ^handle desk1_17 ^perc-id |17| ^waypoint wp02 ^predicates <obj17-preds>)
+   (<obj17-preds> ^category desk1)
+
+   (<objs> ^object <obj18>)
+   (<obj18> ^handle chair1_18 ^perc-id |18| ^waypoint wp02 ^predicates <obj18-preds>)
+   (<obj18-preds> ^color blue1 ^category chair1)
+
+   (<objs> ^object <obj19>)
+   (<obj19> ^handle water1_19 ^perc-id |19| ^waypoint wp02 ^predicates <obj19-preds>)
+   (<obj19-preds> ^color white1 ^category water1)
+
+   (<objs> ^object <obj20>)
+   (<obj20> ^handle table1_20 ^perc-id |20| ^waypoint wp04 ^predicates <obj20-preds>)
+   (<obj20-preds> ^category table1)
+
+   (<objs> ^object <obj21>)
+   (<obj21> ^handle book1_21 ^perc-id |21| ^waypoint wp04 ^predicates <obj21-preds>)
+   (<obj21-preds> ^color blue1 ^category book1)
+
+   (<objs> ^object <obj22>)
+   (<obj22> ^handle papers1_22 ^perc-id |22| ^waypoint wp04 ^predicates <obj22-preds>)
+   (<obj22-preds> ^color white1 ^category papers1)
+
+   (<objs> ^object <obj23>)
+   (<obj23> ^handle stapler1_23 ^perc-id |23| ^waypoint wp04 ^predicates <obj23-preds>)
+   (<obj23-preds> ^color black1 ^category stapler1)
+
+   (<objs> ^object <obj24>)
+   (<obj24> ^handle person_24 ^perc-id |24| ^waypoint wp05 ^predicates <obj24-preds>)
+   (<obj24-preds> ^name alice1 ^category person)
+
+   (<objs> ^object <obj25>)
+   (<obj25> ^handle table1_25 ^perc-id |25| ^waypoint wp05 ^predicates <obj25-preds>)
+   (<obj25-preds> ^category table1)
+
+   (<objs> ^object <obj26>)
+   (<obj26> ^handle desk1_26 ^perc-id |26| ^waypoint wp05 ^predicates <obj26-preds>)
+   (<obj26-preds> ^category desk1)
+
+   (<objs> ^object <obj27>)
+   (<obj27> ^handle chair1_27 ^perc-id |27| ^waypoint wp05 ^predicates <obj27-preds>)
+   (<obj27-preds> ^color green1 ^category chair1)
+
+   (<objs> ^object <obj28>)
+   (<obj28> ^handle mug1_28 ^perc-id |28| ^waypoint wp05 ^predicates <obj28-preds>)
+   (<obj28-preds> ^color blue1 ^category mug1)
+
+   (<objs> ^object <obj29>)
+   (<obj29> ^handle person_29 ^perc-id |29| ^waypoint wp06 ^predicates <obj29-preds>)
+   (<obj29-preds> ^name bob1 ^category person)
+
+   (<objs> ^object <obj30>)
+   (<obj30> ^handle desk1_30 ^perc-id |30| ^waypoint wp06 ^predicates <obj30-preds>)
+   (<obj30-preds> ^category desk1)
+
+   (<objs> ^object <obj31>)
+   (<obj31> ^handle chair1_31 ^perc-id |31| ^waypoint wp06 ^predicates <obj31-preds>)
+   (<obj31-preds> ^color green1 ^category chair1)
+
+   (<objs> ^object <obj32>)
+   (<obj32> ^handle table1_32 ^perc-id |32| ^waypoint wp07 ^predicates <obj32-preds>)
+   (<obj32-preds> ^category table1)
+
+   (<objs> ^object <obj33>)
+   (<obj33> ^handle desk1_33 ^perc-id |33| ^waypoint wp07 ^predicates <obj33-preds>)
+   (<obj33-preds> ^category desk1)
+
+   (<objs> ^object <obj34>)
+   (<obj34> ^handle chair1_34 ^perc-id |34| ^waypoint wp07 ^predicates <obj34-preds>)
+   (<obj34-preds> ^color green1 ^category chair1)
+
+   (<objs> ^object <obj35>)
+   (<obj35> ^handle person_35 ^perc-id |35| ^waypoint wp07 ^predicates <obj35-preds>)
+   (<obj35-preds> ^name charlie1 ^category person)
+
+   (<objs> ^object <obj36>)
+   (<obj36> ^handle door1_36 ^perc-id |36| ^waypoint wp01 wp08 ^predicates <obj36-preds>)
+   (<obj36-preds> ^category door1 ^is-open1 open2)
+
+   (<objs> ^object <obj37>)
+   (<obj37> ^handle door1_37 ^perc-id |37| ^waypoint wp03 wp09 ^predicates <obj37-preds>)
+   (<obj37-preds> ^category door1 ^is-open1 open2)
+
+}
diff --git a/test-agents/task-tests/kitchen/kitchen.config b/test-agents/task-tests/kitchen/kitchen.config
index 5e5830b078..d19a934780 100644
--- a/test-agents/task-tests/kitchen/kitchen.config
+++ b/test-agents/task-tests/kitchen/kitchen.config
@@ -24,31 +24,27 @@ domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-simulate-perception = true
-
-
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-internal-world-file = test_env.soar
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/../waypoint-map.soar
+source-soar-file = ${config-dir}/../internal-world.soar
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the following path prefixes with the file:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-waypoint-map-file = test_env.soar
+source-smem-file = ${config-dir}/../testing.smem
 
 
 ####
@@ -97,23 +93,6 @@ sentences-file = script.txt
 smem-config-file = ../smem-config.txt
 
 
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = ../testing-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = ../testing.smem
-
 
 ####
 # Other Settings
diff --git a/test-agents/task-tests/testing-rules.soar b/test-agents/task-tests/testing-rules.soar
index 2efa7c2f9b..64a4c42e31 100644
--- a/test-agents/task-tests/testing-rules.soar
+++ b/test-agents/task-tests/testing-rules.soar
@@ -2,7 +2,8 @@ sp {top-state*elaborate*agent-params*testing
    (state <s> ^superstate nil
               ^agent-params <p>)
 -->
-   (<p> ^report-tasks-to-output-link true
+   (<p> ^simulate-perception true
+        ^report-tasks-to-output-link true
         ^debug-ids true
         ^print-test-output true
 
diff --git a/test-agents/task-tests/waypoint-map.soar b/test-agents/task-tests/waypoint-map.soar
new file mode 100644
index 0000000000..07c1efe1d2
--- /dev/null
+++ b/test-agents/task-tests/waypoint-map.soar
@@ -0,0 +1,92 @@
+sp {topstate*elaborate*map
+   (state <s> ^superstate nil)
+-->
+   (<s> ^maps <maps>)
+   (<maps> ^map <building> <world>)
+
+   (<world> ^handle world-map ^waypoint <bwp01>)
+   (<bwp01> ^handle bwp01 ^x 0 ^y 0 ^map <world> ^sub-map <building>)
+
+   ### BUILDING ###
+
+   (<building> ^handle bmap1 ^super-waypoint <bwp01>
+       ^waypoint <wp01> <wp02> <wp03> <wp04> <wp05> 
+       ^waypoint <wp06> <wp07> <wp08> <wp09> <wp10> )
+
+   ### WAYPOINTS ###
+
+  (<wp01> ^handle wp01 ^x 3.0 ^y 3.0 ^map <building>)
+   (<wp01> ^edge <e_wp01_wp08>)
+    (<e_wp01_wp08> ^start <wp01> ^end <wp08> 
+         ^doorway true ^door_sx 5.4 ^door_sy 3.0 ^door_ex 6.6 ^door_ey 3.0 ^door_handle door1_36)
+
+  (<wp02> ^handle wp02 ^x 12.0 ^y 3.0 ^map <building>)
+   (<wp02> ^edge <e_wp02_wp08>)
+    (<e_wp02_wp08> ^start <wp02> ^end <wp08> 
+         ^doorway false)
+
+  (<wp03> ^handle wp03 ^x 3.0 ^y 12.0 ^map <building>)
+   (<wp03> ^edge <e_wp03_wp09>)
+    (<e_wp03_wp09> ^start <wp03> ^end <wp09> 
+         ^doorway true ^door_sx 5.4 ^door_sy 12.0 ^door_ex 6.6 ^door_ey 12.0 ^door_handle door1_37)
+
+  (<wp04> ^handle wp04 ^x 12.0 ^y 9.0 ^map <building>)
+   (<wp04> ^edge <e_wp04_wp09>)
+    (<e_wp04_wp09> ^start <wp04> ^end <wp09> 
+         ^doorway true ^door_sx 9.599999239036524 ^door_sy 8.999044408250107 ^door_ex 8.400000760963476 ^door_ey 9.000955591749893)
+
+  (<wp05> ^handle wp05 ^x 12.0 ^y 15.0 ^map <building>)
+   (<wp05> ^edge <e_wp05_wp09>)
+    (<e_wp05_wp09> ^start <wp05> ^end <wp09> 
+         ^doorway true ^door_sx 9.599999239036524 ^door_sy 14.999044408250107 ^door_ex 8.400000760963476 ^door_ey 15.000955591749893)
+
+  (<wp06> ^handle wp06 ^x 3.0 ^y 21.0 ^map <building>)
+   (<wp06> ^edge <e_wp06_wp10>)
+    (<e_wp06_wp10> ^start <wp06> ^end <wp10> 
+         ^doorway true ^door_sx 5.4 ^door_sy 21.0 ^door_ex 6.6 ^door_ey 21.0)
+
+  (<wp07> ^handle wp07 ^x 12.0 ^y 21.0 ^map <building>)
+   (<wp07> ^edge <e_wp07_wp10>)
+    (<e_wp07_wp10> ^start <wp07> ^end <wp10> 
+         ^doorway true ^door_sx 9.599999239036524 ^door_sy 20.999044408250107 ^door_ex 8.400000760963476 ^door_ey 21.000955591749893)
+
+  (<wp08> ^handle wp08 ^x 7.5 ^y 3.0 ^map <building>)
+   (<wp08> ^edge <e_wp08_wp01>)
+    (<e_wp08_wp01> ^start <wp08> ^end <wp01> 
+         ^doorway true ^door_sx 6.6 ^door_sy 3.0 ^door_ex 5.4 ^door_ey 3.0 ^door_handle door1_36)
+   (<wp08> ^edge <e_wp08_wp02>)
+    (<e_wp08_wp02> ^start <wp08> ^end <wp02> 
+         ^doorway false)
+   (<wp08> ^edge <e_wp08_wp09>)
+    (<e_wp08_wp09> ^start <wp08> ^end <wp09> 
+         ^doorway false)
+
+  (<wp09> ^handle wp09 ^x 7.5 ^y 12.0 ^map <building>)
+   (<wp09> ^edge <e_wp09_wp03>)
+    (<e_wp09_wp03> ^start <wp09> ^end <wp03> 
+         ^doorway true ^door_sx 6.6 ^door_sy 12.0 ^door_ex 5.4 ^door_ey 12.0 ^door_handle door1_37)
+   (<wp09> ^edge <e_wp09_wp04>)
+    (<e_wp09_wp04> ^start <wp09> ^end <wp04> 
+         ^doorway true ^door_sx 8.400000760963476 ^door_sy 9.000955591749893 ^door_ex 9.599999239036524 ^door_ey 8.999044408250107)
+   (<wp09> ^edge <e_wp09_wp05>)
+    (<e_wp09_wp05> ^start <wp09> ^end <wp05> 
+         ^doorway true ^door_sx 8.400000760963476 ^door_sy 15.000955591749893 ^door_ex 9.599999239036524 ^door_ey 14.999044408250107)
+   (<wp09> ^edge <e_wp09_wp08>)
+    (<e_wp09_wp08> ^start <wp09> ^end <wp08> 
+         ^doorway false)
+   (<wp09> ^edge <e_wp09_wp10>)
+    (<e_wp09_wp10> ^start <wp09> ^end <wp10> 
+         ^doorway false)
+
+  (<wp10> ^handle wp10 ^x 7.5 ^y 21.0 ^map <building>)
+   (<wp10> ^edge <e_wp10_wp06>)
+    (<e_wp10_wp06> ^start <wp10> ^end <wp06> 
+         ^doorway true ^door_sx 6.6 ^door_sy 21.0 ^door_ex 5.4 ^door_ey 21.0)
+   (<wp10> ^edge <e_wp10_wp07>)
+    (<e_wp10_wp07> ^start <wp10> ^end <wp07> 
+         ^doorway true ^door_sx 8.400000760963476 ^door_sy 21.000955591749893 ^door_ex 9.599999239036524 ^door_ey 20.999044408250107)
+   (<wp10> ^edge <e_wp10_wp09>)
+    (<e_wp10_wp09> ^start <wp10> ^end <wp09> 
+         ^doorway false)
+
+}
diff --git a/test-agents/task-tests/world.info b/test-agents/task-tests/world.info
new file mode 100644
index 0000000000..c1b6da8825
--- /dev/null
+++ b/test-agents/task-tests/world.info
@@ -0,0 +1,127 @@
+robot 4 4 0.0
+
+# Building Map with 7 rooms along a single vertical hallway
+
+#         CX CY Y  W  H
+region 1   3  3 0  6  6 
+region 2  12  3 0  6  6 
+region 3   3 12 0  6  12
+region 4  12  9 0  6  6 
+region 5  12 15 0  6  6 
+region 6   3 21 0  6  6 
+region 7  12 21 0  6  6 
+
+# halls
+region 8  7.5  3 0  3  6
+region 9  7.5 12 0  3 12
+region 10 7.5 21 0  3  6
+
+door 1 8 door 6 3 0 1.9 open
+edge 2 8 open
+door 3 9 door 6 12 0 1.9 open
+edge 4 9 door 9 9 3.14
+edge 5 9 door 9 15 3.14
+edge 6 10 door 6 21 0
+edge 7 10 door 9 21 3.14
+
+edge 8 9 open
+edge 9 10 open
+
+# Room 1: Kitchen
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Fridge               0.60  0.52  0.00    90   0.80  1.00  2.00               0
+Sink                 1.95  0.52  0.50    90   0.80  1.50  0.50               0
+Cupboard             3.30  0.52  0.00    90   0.80  1.00  0.90               0
+Counter              4.05  0.52  0.91    90   0.80  2.50  0.10               0
+Microwave            4.70  0.32  1.02    90   0.40  0.60  0.40               0
+Drawer               4.50  0.52  0.70    90   0.80  1.00  0.20               0
+Table                1.00  5.48  0.00   270   0.80  1.80  1.00               0
+Pantry               5.48  5.00  0.00   180   0.80  1.80  2.00               0
+Garbage              3.00  5.50  0.00   270   0.40  0.40  0.40   80 150  80  0
+#        on/off region
+LightSwitch off wp01 5.90  1.90  0.70   180   0.20  0.20  0.20               0
+
+SimObject apple1     0.80  5.30  1.01     0   0.20  0.20  0.20  255   0   0  3 sphere grabbable color=red1
+SimObject soda1      1.20  5.30  1.01     0   0.20  0.20  0.40    0   0 255  3 cylinder grabbable color=blue1
+SimObject juice1     0.60  0.60  0.41     0   0.20  0.20  0.40  255 127   0  3 cylinder grabbable color=orange1
+SimObject mug1       3.50  0.55  1.02     0   0.20  0.20  0.20    0 255   0  3 cylinder grabbable color=green1
+SimObject fork1      4.00  0.55  1.02     0   0.10  0.20  0.10   50  50  50  2 grabbable color=gray1
+
+Person    chef1      1.00  3.00  0.90     0                     255 200 200  1 name=mary1
+
+
+
+# Room 2: Reception
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Desk                10.50  4.00  0.00   270   0.80  2.80  1.00               0
+Chair               11.20  5.00  0.00   270   0.60  0.60  1.00   30  30 150  1 color=blue1
+SimObject water1    10.20  3.50  1.01     0   0.20  0.20  0.40  200 200 255  3 cylinder grabbable color=white1
+
+
+# Room 3: Conference Room
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+
+
+# Room 4: Copy Room
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Table               12.00 11.50  0.00   270   0.80  2.80  0.80               0
+
+SimObject book1     12.20 11.50  0.81     0   0.30  0.30  0.10   20  20 100  2 grabbable color=blue1
+SimObject papers1   12.60 11.50  0.81     0   0.30  0.30  0.10  200 200 200  2 grabbable color=white1
+SimObject stapler1  11.80 11.50  0.81     0   0.10  0.20  0.10   50  50  50  2 grabbable color=black1
+
+# Room 5: Alice's Office
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Person    person    12.00 16.00  0.90   270                      50 200  50  1 name=alice1
+
+Table               10.00 12.50  0.00    90   0.80  1.80  0.80               0
+Desk                13.00 17.00  0.00   180   0.80  1.80  1.00               0
+Chair               14.00 16.50  0.00   180   0.60  0.60  1.00   20 100  20  1 color=green1
+SimObject mug1      13.50 17.55  1.02     0   0.20  0.20  0.20    0   0 255  3 cylinder grabbable color=blue1
+
+
+# Room 6: Bob's Office
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Person    person     1.00 21.00  0.90     0                     150 150 255  1 name=bob1
+
+Desk                 2.00 23.00  0.00     0   0.80  1.80  1.00               0
+Chair                1.00 23.50  0.00     0   0.60  0.60  1.00   20 100  20  1 color=green1
+
+
+# Room 7: Charlie's Office
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Table               10.00 18.50 0.00     90  0.80 1.80 0.80                  0
+Desk                13.00 23.00 0.00    180  0.80 1.80 1.00                  0
+Chair               14.00 22.50 0.00    180  0.60 0.60 1.00      20 100  20  1 color=green1
+
+Person    person    11.00 20.00  0.90    90                     150 150 150  1 name=charlie1
+
+
+
+# Outer wall
+wallchain 4
+  0 0
+  0 24
+  15 24
+  15 0
+  0 0
+
+# Walls between rooms
+wall 0 6 6 6
+wall 9 6 15 6
+
+wall 9 12 15 12
+
+wall 0 18 6 18
+wall 9 18 15 18
+
+# Hallway walls
+wall 6 0 6 2
+wall 6 4 6 11
+wall 6 13 6 20
+wall 6 22 6 24
+
+wall 9 4 9 8
+wall 9 10 9 14
+wall 9 16 9 20
+wall 9 22 9 24
diff --git a/tools/java/src/edu/umich/rosie/tools/config/RosieAgentConfigurator.java b/tools/java/src/edu/umich/rosie/tools/config/RosieAgentConfigurator.java
index 47851b9af4..3c47bb4be6 100644
--- a/tools/java/src/edu/umich/rosie/tools/config/RosieAgentConfigurator.java
+++ b/tools/java/src/edu/umich/rosie/tools/config/RosieAgentConfigurator.java
@@ -14,21 +14,20 @@ public class RosieAgentConfigurator {
 	public static void ConfigureAgent(RosieConfig config){
 		try{
 			// Create the Agent Directory
-			File agentDir = new File(config.agentDir);
-			if(!agentDir.exists()){
-				if(!agentDir.mkdir()){
-					System.err.println("ERROR: ConfigureAgent could not create directory " + config.agentDir);
+			if(!config.agentDir.exists()){
+				if(!config.agentDir.mkdir()){
+					System.err.println("ERROR: ConfigureAgent could not create directory " + config.agentDir.getAbsolutePath());
 					return;
 				}
 			}
 
 			// Different filenames used by the agent
-			String agentConfigFilename = config.agentDir + "/rosie." + config.agentName + ".config";
-			String agentSourceFilename = config.agentDir + "/" + config.agentName + "_source.soar";
+			String clientConfigFilename = config.agentDir.getAbsolutePath() + "/rosie-client.config";
+			String agentSourceFilename = config.agentDir.getAbsolutePath() + "/" + config.agentName + "_source.soar";
 			File smemSourceFile = SmemConfigurator.configureSmem(config);
 			
 			// Write the 3 files
-			writeAgentConfigFile(config, agentConfigFilename, agentSourceFilename, smemSourceFile);
+			writeClientConfigFile(config, clientConfigFilename, agentSourceFilename, smemSourceFile);
 			writeAgentSourceFile(config, agentSourceFilename);
 
 		} catch (Exception e){
@@ -36,48 +35,39 @@ public static void ConfigureAgent(RosieConfig config){
 		}
 	}
 	
-	private static void writeAgentConfigFile(RosieConfig config, String agentConfigFilename, 
+	private static void writeClientConfigFile(RosieConfig config, String clientConfigFilename, 
 			String agentSourceFilename, File smemSourceFile) throws IOException {
-		// Create the agent config file (Sourced by the java Rosie agent)
-		Writer agentConfigFile = new BufferedWriter(new OutputStreamWriter(
-				new FileOutputStream(agentConfigFilename), "utf-8"));
+		// Create the client config file (Sourced by the java or python Rosie client)
+		Writer clientConfigWriter = new BufferedWriter(new OutputStreamWriter(
+				new FileOutputStream(clientConfigFilename), "utf-8"));
 		
 		// Config File Beginning
-		agentConfigFile.write("# This Rosie config file was autogenerated by the RosieAgentConfigurator from:\n");
-		agentConfigFile.write("source-config = " + config.sourceFile + "\n");
-		agentConfigFile.write("agent-name = " + config.agentName + "\n\n");
+		clientConfigWriter.write("# This Rosie config file was autogenerated by the RosieAgentConfigurator from:\n");
+		clientConfigWriter.write("source-config = " + config.sourceFile + "\n");
+		clientConfigWriter.write("agent-name = " + config.agentName + "\n\n");
 		if(config.domain != null){
-			agentConfigFile.write("domain = " + config.domain + "\n\n");
+			clientConfigWriter.write("domain = " + config.domain + "\n\n");
 		}
 		
 		// Agent Source Information
-		agentConfigFile.write("agent-source = " + agentSourceFilename + "\n");
-		agentConfigFile.write("smem-source = " + smemSourceFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
+		clientConfigWriter.write("agent-source = " + agentSourceFilename + "\n");
+		clientConfigWriter.write("smem-source = " + smemSourceFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
 		
 		//	Parser testing info
-		agentConfigFile.write("parser = " + config.parser + "\n");
-		agentConfigFile.write("parser-test = " + config.parser_test + "\n");
-		agentConfigFile.write("hypothetical = " + config.hypothetical + "\n\n");
+		clientConfigWriter.write("parser = " + config.parser + "\n");
+		clientConfigWriter.write("parser-test = " + config.parser_test + "\n");
+		clientConfigWriter.write("hypothetical = " + config.hypothetical + "\n\n");
 
 		// messages-file
 		if (config.sentenceSource.equals("chat") && config.sentencesFile != null && config.sentencesFile.exists()){
-			agentConfigFile.write("messages-file = " + config.sentencesFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
-		}
-
-		// map-info-file
-		if (config.mapInfoFile != null){
-			agentConfigFile.write("map-info-file = " + config.mapInfoFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
-		}
-		// object-info-file
-		if (config.objectInfoFile != null){
-			agentConfigFile.write("object-info-file = " + config.objectInfoFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
+			clientConfigWriter.write("messages-file = " + config.sentencesFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
 		}
 		
-		// Other Settings
-		for(Map.Entry<String, String> e : config.otherSettings.entrySet()){
-			agentConfigFile.write(e.getKey() + " = " + e.getValue() + "\n");
+		// Client Settings
+		for(Map.Entry<String, String> e : config.clientSettings.entrySet()){
+			clientConfigWriter.write(e.getKey() + " = " + e.getValue() + "\n");
 		}
-		agentConfigFile.close();
+		clientConfigWriter.close();
 	}
 	
 	private static void writeAgentSourceFile(RosieConfig config, String agentSourceFilename) throws IOException {
@@ -86,14 +76,11 @@ private static void writeAgentSourceFile(RosieConfig config, String agentSourceF
 		agentSourceFile.write("# This file was autogenerated by the RosieAgentConfigurator\n");
 		agentSourceFile.write("# This is the root agent soar file to source for the '" + config.agentName + "' agent.\n\n");
 		
+		// BEGIN SOURCING ROSIE FILES
 		agentSourceFile.write("# Sourcing rosie agent\n");
-		agentSourceFile.write("pushd " + config.rosieHome + "/agent\n");
+		agentSourceFile.write("pushd " + config.rosieAgentDir.getAbsolutePath() + "\n");
 		agentSourceFile.write("source _agent_source.soar\n\n");
 
-		if(config.domain == null || (config.domain.equals("internal") && config.simulate_perception)){
-			agentSourceFile.write("svs --enable\n");
-		}
-
       // Source the proper language comprehension files
       if(config.parser.equals("laird")){
          agentSourceFile.write("pushd language-comprehension\n");
@@ -112,21 +99,15 @@ private static void writeAgentSourceFile(RosieConfig config, String agentSourceF
          agentSourceFile.write("popd\n");
       }
 
-	  // Source each extra rosie file
-	  agentSourceFile.write("\n");
-	  agentSourceFile.write("# Sourcing any extra files listed in the config file:\n");
-	  for(String rosieFile : config.extraRosieFiles){
-		  agentSourceFile.write("source " + rosieFile + "\n");
-	  }
-	  agentSourceFile.write("\n");
+		agentSourceFile.write("\npopd\n\n");
+		// END SOURCING ROSIE FILES
 
-		agentSourceFile.write("popd\n\n");
-
-		agentSourceFile.write("pushd " + config.agentDir + "\n\n");
+		// BEGIN SOURCING FILES IN THE CREATED AGENT DIR
+		agentSourceFile.write("pushd " + config.agentDir.getAbsolutePath() + "\n\n");
 
 		// Sentences
 		if (config.sentenceSource.equals("scripts") && config.sentencesFile != null && config.sentencesFile.exists()){
-			File sentenceSourceFile = new File(config.agentDir + "/sentences_" + config.agentName + ".soar");
+			File sentenceSourceFile = new File(config.agentDir, "sentences_" + config.agentName + ".soar");
 			SentencesGenerator.generateRosieSentences(config.sentencesFile, sentenceSourceFile);
 			agentSourceFile.write("# Sourcing a list of scripted sentences to autorun\n");
 			agentSourceFile.write("source " + sentenceSourceFile.getName() + "\n\n");
@@ -134,32 +115,22 @@ private static void writeAgentSourceFile(RosieConfig config, String agentSourceF
 		
 		// World
 		if (config.worldFile != null && config.worldFile.exists()){
-			File rosieWorldFile = new File(config.agentDir + "/world_" + config.agentName + ".soar");
+			File rosieWorldFile = new File(config.agentDir, "world_" + config.agentName + ".soar");
 			WorldGenerator.generateRosieWorld(config.worldFile, rosieWorldFile);
 			agentSourceFile.write("# Sourcing a specification for the top-state world\n");
 			agentSourceFile.write("source " + rosieWorldFile.getName() + "\n\n");
 		}
 
 		agentSourceFile.write("popd\n\n");
+		// END SOURCING FILES IN THE CREATED AGENT DIR
 
-		// Internal world and map files used for task learning environments
-		if(config.internalWorldFile != null){
-			agentSourceFile.write("# Sourcing the internal-world used by the agent\n");
-			agentSourceFile.write("source " + config.internalWorldFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
-		}
-		if(config.waypointMapFile != null){
-			agentSourceFile.write("# Sourcing the waypoint map used for navigation\n");
-			agentSourceFile.write("source " + config.waypointMapFile.getAbsolutePath().replaceAll("\\\\", "/") + "\n\n");
-		}
-		
-		// Custom soar file
-		if (config.customSoarFile != null && config.customSoarFile.exists()){
-			agentSourceFile.write("# Sourcing custom soar code specific to this agent\n");
-			agentSourceFile.write("pushd " + config.customSoarFile.getParent().replaceAll("\\\\", "/") + "\n");
-			agentSourceFile.write("source " + config.customSoarFile.getName() + "\n");
-			agentSourceFile.write("popd\n\n");
+		// Source each local soar file
+		agentSourceFile.write("# Sourcing any extra soar files:\n");
+		for(File soarFile : config.sourceSoarFiles){
+			agentSourceFile.write("source " + soarFile.getAbsolutePath() + "\n");
 		}
-		
+		agentSourceFile.write("\n");
+
 		// Create the agent param wme's
 		agentSourceFile.write("sp {top-state*agent-params*elaborate*config*information\n");
 		agentSourceFile.write("   (state <s> ^superstate nil\n");
@@ -168,9 +139,6 @@ private static void writeAgentSourceFile(RosieConfig config, String agentSourceF
 		if(config.domain != null){
 			agentSourceFile.write("   (<p> ^domain " + config.domain + ")\n");
 		}
-		if(config.simulate_perception){
-			agentSourceFile.write("   (<p> ^simulate-perception true)\n");
-		}
 		agentSourceFile.write("   (<p> ^parser " + config.parser + ")\n");
 		agentSourceFile.write("   (<p> ^parser-test " + config.parser_test + ")\n");
 		agentSourceFile.write("   (<p> ^hypothetical " + config.hypothetical + ")\n");
@@ -197,19 +165,14 @@ public static void main(String[] args) {
     		System.err.println("\nThe file " + configFilename + " does not exist");
     		System.exit(0);
     	}
-		// AM: Do this a 2nd time, because the code assumes the given file has the full absolute path 
-		configFile = new File(configFile.getAbsolutePath());
-    	
-        // Load the properties file
-        Properties props = new Properties();
-        try {
-			props.load(new FileReader(configFile));
-		} catch (IOException e) {
-			System.out.println("IO Error reading config file " + configFilename);
-			e.printStackTrace();
-			return;
+		try {
+			// AM: Do this a 2nd time, because the code assumes the given file has the full absolute path 
+			configFile = new File(configFile.getCanonicalPath());
+		} catch (IOException e){
+    		System.err.println("\nThe file " + configFilename + " could not be resolved");
+    		System.exit(0);
 		}
-        
+    	
     	String rosieHome = System.getenv("ROSIE_HOME");
 		boolean silent = false;
     	if (args.length >= 2){
@@ -226,7 +189,7 @@ public static void main(String[] args) {
     	rosieHome = rosieHome.replaceAll("\\\\", "/");
         
         try{
-        	RosieConfig config = new RosieConfig(configFile, props, rosieHome);
+        	RosieConfig config = new RosieConfig(configFile, rosieHome);
 			if(!silent){
 				System.out.println(config.toString());
 			}
diff --git a/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java b/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
index 90841f3fa9..fb66fa9321 100644
--- a/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
+++ b/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
@@ -1,6 +1,6 @@
 package edu.umich.rosie.tools.config;
 
-import java.io.File;
+import java.io.*;
 import java.util.*;
 
 public class RosieConfig {
@@ -15,12 +15,10 @@ public RosieConfigException(String message){
 
 	// A set of property names used in the config file
 	public static final HashSet<String> PROP_NAMES = new HashSet<String>(
-			Arrays.asList("agent-name", "agent-dir", "domain",
-					"parser", "parser-test",
-					"hypothetical", "simulate-perception", "enable-svs",
-					"sentence-source", "sentences-file", "world-file", "smem-config-file", 
-					"custom-soar-file", "custom-smem-file", 
-					"map-info-file", "object-info-file", "internal-world-file", "waypoint-map-file"));
+			Arrays.asList("agent-name", "agent-dir", "smem-config-file", 
+				"domain", "world-file",
+					"parser", "parser-test", "hypothetical",
+					"sentence-source", "sentences-file"));
 	
 	// agent-name = <string> [OPTIONAL] - The name of the agent (used as root of file names)
 	//   DEFAULT - The name of the config file (minus extension)
@@ -28,396 +26,237 @@ public RosieConfigException(String message){
 	
 	// agent-dir = <string>  [OPTIONAL] - The directory the agent should be created in
 	//    DEFAULT - The directory containing the config file
-	public String agentDir;
+	public File agentDir = null;
+
+	// smem-config-file = <filename> [OPTIONAL]
+	//     A file with info about what concepts to include from smem
+	//    (File used by SmemConfigurator)
+	public File smemConfigFile = null;
 	
 	// domain = << magicbot tabletop internal fetch ai2thor cozmo >>  [OPTIONAL]
 	//    The environment the agent is in (determines perception/action rules)
-	public String domain;
+	public String domain = null;
 	public static final HashSet<String> VALID_DOMAINS = new HashSet<String>(
 			Arrays.asList("magicbot", "tabletop", "internal", "fetch", "ai2thor", "cozmo"));
+	
+	// world-file = <filename> [OPTIONAL]
+	//    A file with info about the top-state world 
+	//    (File used by WorldGenerator)
+	public File worldFile = null;
 
-	// simulate-perception << true false >> [OPTIONAL]
-	//    Only relevant for domain=internal, whether more detailed perception is simulated
-	public Boolean simulate_perception;
-
-	// enable-svs << true false >> [DEFAULT=true]
-	public Boolean enable_svs;
 	
 	// parser = << laird lucia >>  [OPTIONAL] - The parser the agent should use
 	//    DEFAULT - laird
-	public String parser;
-	public static final String DEFAULT_PARSER = "laird";
+	public String parser = "laird";
 	public static final HashSet<String> VALID_PARSERS = new HashSet<String>(
 			Arrays.asList("laird", "lucia"));
 	
 	// parser-test = << true false >>  [OPTIONAL] - Whether to parse in test mode
 	//    DEFAULT - false
-	public String parser_test;
-	public static final String DEFAULT_PARSER_TEST = "false";
+	public String parser_test = "false";
 	public static final HashSet<String> VALID_PARSER_TESTS = new HashSet<String>(
 			Arrays.asList("true", "false"));
 	
 	// hypothetical = << true false >>  [OPTIONAL] - Whether to parse hypothetically in test mode
 	//    DEFAULT - false
-	public String hypothetical;
-	public static final String DEFAULT_HYPOTHETICAL = "false";
+	public String hypothetical = "false";
 	public static final HashSet<String> VALID_HYPOTHETICALS = new HashSet<String>(
 			Arrays.asList("true", "false"));
 	
 	// sentence-source = << chat scripts >>  [OPTIONAL] - Where sentences come from
 	//    DEFAULT - chat
-	public String sentenceSource;
-	public static final String DEFAULT_SENTENCE_SRC = "chat";
+	public String sentenceSource = "chat";
 	public static final HashSet<String> VALID_SENTENCE_SRCS = new HashSet<String>(
 			Arrays.asList("chat", "scripts"));
 	
 	// sentences-file = <filename> [OPTIONAL] 
 	//    A file with a list of sentences
 	//    (File used by SentencesGenerator)
-	public File sentencesFile;
-	
-	// world-file = <filename> [OPTIONAL]
-	//    A file with info about the top-state world 
-	//    (File used by WorldGenerator)
-	public File worldFile;
-
-	// smem-config-file = <filename> [OPTIONAL]
-	//     A file with info about what concepts to include from smem
-	//    (File used by SmemConfigurator)
-	public File smemConfigFile;
-
-	// use-default-smem-config = <bool> [OPTIONAL, default=True]
-	//    If true (default) will use agent/init-smem/default-smem-config.txt to setup smem
-	public Boolean useDefaultSmemConfig;
-	public static final Boolean DEFAULT_USE_DEFAULT_SMEM_CONFIG = true;
+	public File sentencesFile = null;
 	
-	// custom-soar-file = <filename> [OPTIONAL]
-	//     A file containing soar code that will be sourced by the agent
-	public File customSoarFile;
+	// source-soar-file = <file> [ANY NUMBER]
+	//     Extra soar files that should be sourced by the agent
+	//     Can prefix with ${config_dir} or ${rosie_agent}
+	public List<File> sourceSoarFiles = new ArrayList<File>();
 
-	// custom-smem-file = <filename> [OPTIONAL]
-	//     A file containing smem adds that will be sourced by the agent
-	public File customSmemFile;
+	// source-smem-file = <file> [ANY NUMBER]
+	//     A smem file relative to the config directory that should be sourced by the agent (after being mapped)
+	public List<File> sourceSmemFiles = new ArrayList<File>();
 
-	// map-info-file = <filename> [OPTIONAL]
-	//     A file containing information about the map the agent is driving in (room regions)
-	public File mapInfoFile;
 
-	// object-info-file = <filename> [OPTIONAL]
-	//     A file containing information used to simulate or annotate object properties 
-	public File objectInfoFile;
-
-	// internal-world-file = <filename> [OPTIONAL]
-	//     A file inside agent/manage-world-state/internal-worlds used to initialize the top-state world
-	public File internalWorldFile;
-
-	// waypoint-map-file = <filename> [OPTIONAL]
-	//     A file inside agent/manage-world-state/waypoint-maps which defines a waypoint map used for navigation
-	public File waypointMapFile;
-
-	// extra-rosie-files = <file1>;<file2>;... [OPTIONAL]
-	//     A file relative to the rosie agent directory that should be sourced by soar
-	//     Can specify more than 1 if separated by semicolons
-	public List<String> extraRosieFiles;
+	// Any other properties in the file will be passed on to the created rosie-client.config file
+	public HashMap<String, String> clientSettings = new HashMap<String, String>();
+	
 
-	// Any other properties in the file will be put into the created rosie.config file
-	public HashMap<String, String> otherSettings;
+	// SETTINGS SET DURING CREATION
 	
-	// rosieHome - the directory containing rosie
-	public String rosieHome;
+	// rosieAgentDir - the directory containing the rosie agent
+	public final File rosieAgentDir;
 
 	// sourceFile - the full path of the file this config was created from
-	public String sourceFile;
-	
-	public RosieConfig(File configFile, Properties props, String rosieHome) throws RosieConfigException {
-		String configDir = configFile.getParent().replaceAll("\\\\", "/");
-		
-		// rosieHome
-		this.rosieHome = rosieHome; 
+	public final File sourceFile;
 
-		// sourceFile
-		this.sourceFile = configFile.getAbsolutePath().replaceAll("\\\\", "/");
+	// sourceDir - the directory containing this config file
+	public final File sourceDir;
+	
+	private String cleanPath(String path){
+		return path.replaceAll("\\\\", "/");
+	}
 
-		// agent-name
-		if (props.containsKey("agent-name")){
-			this.agentName = props.getProperty("agent-name");
-		} else {
-			this.agentName = configFile.getName();
-			if (this.agentName.lastIndexOf(".") > 0){
-				this.agentName = this.agentName.substring(0, this.agentName.lastIndexOf("."));
-			}
-		}
-		
-		// agent-dir
-		if (props.containsKey("agent-dir")){
-			this.agentDir = configFile.getParent() + "/" + props.getProperty("agent-dir").replaceAll("\\\\", "/");
-		} else {
-			this.agentDir = configFile.getParent() + "/agent";
-		}
-		this.agentDir = this.agentDir.replaceAll("\\\\", "/");
-		
-		// domain
-		if (props.containsKey("domain")){
-			this.domain = props.getProperty("domain").toLowerCase();
-			if(!VALID_DOMAINS.contains(this.domain)){
-				throw new RosieConfigException("domain " + this.domain + " is not valid\n" + 
-						"Must be one of: " + VALID_DOMAINS.toString());
+	public RosieConfig(File configFile, String rosieHome) throws RosieConfigException {
+		this.sourceFile = configFile;
+		this.sourceDir = configFile.getParentFile();
+		this.agentDir = new File(this.sourceDir, "agent");
+		this.rosieAgentDir = new File(rosieHome + "/agent");
+		validateFile("ROSIE_HOME", this.rosieAgentDir);
+
+		try {
+			BufferedReader reader = new BufferedReader(new FileReader(configFile));
+			String line;
+			int lineNum = 0;
+			while((line = reader.readLine()) != null){
+				line = line.strip();
+				if(line.length() > 0 && line.charAt(0) != '#'){
+					String[] args = line.split(" ");
+					if(args.length < 3 || !args[1].equals("=")){
+						throw new IOException("Error parsing setting on line " + String.valueOf(lineNum) + ":\n" + line);
+					}
+					handleSetting(args[0], args[2]);
+				}
+				lineNum += 1;
 			}
-		} else {
-			this.domain = null;
+			reader.close();
+		} catch (IOException e){
+			throw new RosieConfigException("Error reading the config file:\n" + e);
 		}
 
-		// simulate-perception
-		if (this.domain != null && this.domain.equals("internal")){
-			this.simulate_perception = props.getProperty("simulate-perception", "false").toLowerCase().equals("true");
-		} else {
-			this.simulate_perception = false;
-		}
+		this.validate();
+	}
 
-		// enable-svs
-		this.enable_svs = props.getProperty("enable_svs", "true").toLowerCase().equals("true");
-		
-		// parser
-		if (props.containsKey("parser")){
-			this.parser = props.getProperty("parser").toLowerCase();
-			if(!VALID_PARSERS.contains(this.parser)){
-				throw new RosieConfigException("parser " + this.parser + " is not valid\n" + 
-						"Must be one of: " + VALID_PARSERS.toString());
-			}
-		} else {
-			parser = DEFAULT_PARSER;
+	private void handleSetting(String settingName, String settingValue) {
+		settingValue = settingValue.replace("${agent-dir}", this.agentDir.getAbsolutePath());
+		settingValue = settingValue.replace("${config-dir}", this.sourceDir.getAbsolutePath());
+		settingValue = settingValue.replace("${rosie-agent}", this.rosieAgentDir.getAbsolutePath());
+		settingValue = cleanPath(settingValue);
+
+		if(settingName.equals("agent-name")){
+			this.agentName = settingValue;
 		}
-		
-		// parser-test
-		if (props.containsKey("parser-test")){
-			this.parser_test = props.getProperty("parser-test").toLowerCase();
-			if(!VALID_PARSER_TESTS.contains(this.parser_test)){
-				throw new RosieConfigException("parser_test " + this.parser_test + " is not valid\n" + 
-						"Must be one of: " + VALID_PARSER_TESTS.toString());
-			}
-		} else {
-			parser_test = DEFAULT_PARSER_TEST;
+		else if(settingName.equals("agent-dir")){
+			this.agentDir = new File(this.sourceDir, settingValue);
 		}
-		
-		// hypothetical
-		if (props.containsKey("hypothetical")){
-			this.hypothetical = props.getProperty("hypothetical").toLowerCase();
-			if(!VALID_HYPOTHETICALS.contains(this.hypothetical)){
-				throw new RosieConfigException("hypothetical " + this.hypothetical + " is not valid\n" + 
-						"Must be one of: " + VALID_HYPOTHETICALS.toString());
+		else if(settingName.equals("source-soar-file")){
+			File soarFile = new File(settingValue);
+			if(!soarFile.exists()){
+				soarFile = new File(this.sourceDir, settingValue);
 			}
-		} else {
-			hypothetical = DEFAULT_HYPOTHETICAL;
+			this.sourceSoarFiles.add(soarFile);
 		}
-		
-		// sentence-source
-		if (props.containsKey("sentence-source")){
-			this.sentenceSource = props.getProperty("sentence-source").toLowerCase();
-			if(!VALID_SENTENCE_SRCS.contains(this.sentenceSource)){
-				throw new RosieConfigException("sentence-source " + this.sentenceSource + " is not valid\n" + 
-						"Must be one of: " + VALID_SENTENCE_SRCS.toString());
+		else if(settingName.equals("source-smem-file")){
+			File smemFile = new File(settingValue);
+			if(!smemFile.exists()){
+				smemFile = new File(this.sourceDir, settingValue);
 			}
-		} else {
-			this.sentenceSource = DEFAULT_SENTENCE_SRC;
+			this.sourceSmemFiles.add(smemFile);
 		}
-		
-		// sentences-file
-		if (props.containsKey("sentences-file")){
-			this.sentencesFile = new File(configDir + "/" + props.getProperty("sentences-file"));
-		} else {
-			this.sentencesFile = null;
+		else if(settingName.equals("domain")){
+			this.domain = settingValue.toLowerCase();
 		}
-		
-		// world-file
-		if (props.containsKey("world-file")){
-			this.worldFile = new File(configDir + "/" + props.getProperty("world-file"));
-		} else {
-			this.worldFile = null;
+		else if(settingName.equals("world-file")){
+			this.worldFile = new File(this.sourceDir + "/" + settingValue);
 		}
-		
-		// smem-config-file
-		if (props.containsKey("smem-config-file")){
-			this.smemConfigFile = new File(configDir + "/" + props.getProperty("smem-config-file"));
-		} else {
-			this.smemConfigFile = null;
+		else if(settingName.equals("smem-config-file")){
+			this.smemConfigFile = new File(this.sourceDir + "/" + settingValue);
 		}
-		
-		// use-default-smem-config
-		if (props.containsKey("use-default-smem-config")){
-			this.useDefaultSmemConfig = new Boolean(props.getProperty("use-default-smem-config"));
-		} else {
-			this.useDefaultSmemConfig = DEFAULT_USE_DEFAULT_SMEM_CONFIG;
+		else if(settingName.equals("parser")){
+			this.parser = settingValue.toLowerCase();
 		}
-		
-		// custom-soar-file
-		if (props.containsKey("custom-soar-file")){
-			this.customSoarFile = new File(configDir + "/" + props.getProperty("custom-soar-file"));
-		} else {
-			this.customSoarFile = null;
+		else if(settingName.equals("parser-test")){
+			this.parser_test = settingValue.toLowerCase();
 		}
-		
-		// custom-smem-file
-		if (props.containsKey("custom-smem-file")){
-			this.customSmemFile = new File(configDir + "/" + props.getProperty("custom-smem-file"));
-		} else {
-			this.customSmemFile = null;
+		else if(settingName.equals("hypothetical")){
+			this.hypothetical = settingValue.toLowerCase();
 		}
-		
-		// map-info-file
-		if (props.containsKey("map-info-file")){
-			this.mapInfoFile = new File(configDir + "/" + props.getProperty("map-info-file"));
-		} else {
-			this.mapInfoFile = null;
-		}
-		
-		// object-info-file
-		if (props.containsKey("object-info-file")){
-			this.objectInfoFile = new File(configDir + "/" + props.getProperty("object-info-file"));
-		} else {
-			this.objectInfoFile = null;
+		else if(settingName.equals("sentence-source")){
+			this.sentenceSource = settingValue.toLowerCase();
 		}
-		
-		// internal-world-file
-		if (props.containsKey("internal-world-file")){
-			this.internalWorldFile = new File(this.rosieHome + "/agent/manage-world-state/internal-worlds/" + props.getProperty("internal-world-file"));
-		} else {
-			this.internalWorldFile = null;
+		else if(settingName.equals("sentences-file")){
+			this.sentencesFile = new File(this.sourceDir, settingValue);
 		}
-		
-		// waypoint-map-file
-		if (props.containsKey("waypoint-map-file")){
-			this.waypointMapFile = new File(this.rosieHome + "/agent/manage-world-state/waypoint-maps/" + props.getProperty("waypoint-map-file"));
-		} else {
-			this.waypointMapFile = null;
+		else {
+			this.clientSettings.put(settingName, settingValue);
 		}
 
-		// extra-rosie-files
-		if (props.containsKey("extra-rosie-files")){
-			String files = props.getProperty("extra-rosie-files");
-			extraRosieFiles = new ArrayList<String>(Arrays.asList(files.split(";")));
-		} else {
-			extraRosieFiles = new ArrayList<String>();
-		}
-		
-		// otherSettings
-		// Anything else in the config file will be 
-		this.otherSettings = new HashMap<String, String>();
-		for(Map.Entry<Object, Object> e : props.entrySet()){
-			String name = (String)e.getKey();
-			String val = (String)e.getValue();
-			if(!PROP_NAMES.contains(name)){
-				val = val.replace("${agent-dir}", agentDir);
-				val = val.replace("${config-dir}", configDir);
-				this.otherSettings.put(name, val);
-			}
-		}
 	}
-	
-	public String toString(){
-		StringBuilder sb = new StringBuilder();
-		sb.append("agent-name = " + this.agentName + "\n");
-		sb.append("agent-dir = " + this.agentDir + "\n");
-		sb.append("rosie-home = " + this.rosieHome + "\n");
-		sb.append("domain = " + this.domain + "\n");
-		sb.append("simulate-perception = " + new Boolean(this.simulate_perception).toString() + "\n");
-		sb.append("enable-svs = " + new Boolean(this.enable_svs).toString() + "\n");
-		sb.append("parser = " + this.parser + "\n");
-		sb.append("parser-test = " + this.parser_test + "\n");
-		sb.append("hypothetical = " + this.hypothetical + "\n");
-		sb.append("sentence-source = " + this.sentenceSource + "\n");
 
-		if(this.sentencesFile != null){
-			sb.append("sentences-file = " + this.sentencesFile.getName() + "\n");
-			if(!this.sentencesFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("sentences-file = None\n");
+	private void validate() throws RosieConfigException {
+		// agentName
+		if(this.agentName == null){
+			throw new RosieConfigException("agent-name is required");
 		}
 
-		if(this.worldFile != null){
-			sb.append("world-file = " + this.worldFile.getName() + "\n");
-			if(!this.worldFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("world-file = None\n");
+		// domain
+		if(this.domain != null){
+			validateOptions("domain", this.domain, VALID_DOMAINS);
 		}
 
-		if(this.smemConfigFile != null){
-			sb.append("smem-config-file = " + this.smemConfigFile.getName() + "\n");
-			if(!this.smemConfigFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("smem-config-file = None\n");
-		}
+		validateOptions("parser", this.parser, VALID_PARSERS);
+		validateOptions("parser-test", this.parser_test, VALID_PARSER_TESTS);
+		validateOptions("hypothetical", this.hypothetical, VALID_HYPOTHETICALS);
+		validateOptions("sentence-source", this.sentenceSource, VALID_SENTENCE_SRCS);
 
-		sb.append("use-default-smem-config = " + this.useDefaultSmemConfig.toString() + "\n");
+		validateFile("world-file", this.worldFile);
+		validateFile("smem-config-file", this.smemConfigFile);
+		validateFile("sentences-file", this.sentencesFile);
 
-		if(this.customSoarFile != null){
-			sb.append("custom-soar-file = " + this.customSoarFile.getName() + "\n");
-			if(!this.customSoarFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("custom-soar-file = None\n");
+		for(File f : this.sourceSoarFiles){
+			validateFile("source-soar-file", f);
 		}
-
-		if(this.customSmemFile != null){
-			sb.append("custom-smem-file = " + this.customSmemFile.getName() + "\n");
-			if(!this.customSmemFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("custom-smem-file = None\n");
+		for(File f : this.sourceSmemFiles){
+			validateFile("source-smem-file", f);
 		}
 
-		if(this.mapInfoFile != null){
-			sb.append("map-info-file = " + this.mapInfoFile.getName() + "\n");
-			if(!this.mapInfoFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("map-info-file = None\n");
-		}
+	}
 
-		if(this.objectInfoFile != null){
-			sb.append("object-info-file = " + this.objectInfoFile.getName() + "\n");
-			if(!this.objectInfoFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("object-info-file = None\n");
+	private void validateOptions(String name, String value, HashSet<String> options) throws RosieConfigException {
+		if(!options.contains(value)){
+			throw new RosieConfigException(name + " " + value + " is not valid\n" + 
+					"Must be one of: " + options.toString());
 		}
+	}
 
-		if(this.internalWorldFile != null){
-			sb.append("internal-world-file = " + this.internalWorldFile.getName() + "\n");
-			if(!this.internalWorldFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("internal-world-file = None\n");
+	private void validateFile(String name, File file) throws RosieConfigException {
+		if(file != null && !file.exists()){
+			throw new RosieConfigException(name + " file " + file.getName() + " does not exist");
 		}
+	}
+	
+	public String toString(){
+		StringBuilder sb = new StringBuilder();
+		sb.append("agent-name = " + this.agentName + "\n");
+		sb.append("agent-dir = " + this.agentDir.getName() + "\n");
+		sb.append("domain = " + this.domain + "\n");
+		sb.append("parser = " + this.parser + "\n");
+		sb.append("parser-test = " + this.parser_test + "\n");
+		sb.append("hypothetical = " + this.hypothetical + "\n");
+		sb.append("sentence-source = " + this.sentenceSource + "\n");
+		sb.append("sentences-file = " + (this.sentencesFile == null ? "None" : this.sentencesFile.getName()) + "\n");
+		sb.append("world-file = " + (this.worldFile == null ? "None" : this.worldFile.getName()) + "\n");
+		sb.append("smem-config-file = " + (this.smemConfigFile == null ? "None" : this.smemConfigFile.getName()) + "\n");
 
-		if(this.waypointMapFile != null){
-			sb.append("waypoint-map-file = " + this.waypointMapFile.getName() + "\n");
-			if(!this.waypointMapFile.exists()){
-				sb.append("  !!! File does not exist !!!\n");
-			}
-		} else {
-			sb.append("waypoint-map-file = None\n");
+		sb.append("\nSourcing the following soar files:\n");
+		for(File f : this.sourceSoarFiles){
+			sb.append("   > " + f.getAbsolutePath() + "\n");
 		}
 
-		Integer numFiles = this.extraRosieFiles.size();
-		sb.append("Number of extra-rosie-files: " + numFiles.toString() + "\n");
-		for(String f : this.extraRosieFiles){
-			sb.append("   > " + f + "\n");
+		sb.append("\nSourcing the following local smem files:\n");
+		for(File f : this.sourceSmemFiles){
+			sb.append("   > " + f.getAbsolutePath() + "\n");
 		}
-		
-		
-		for(Map.Entry<String, String> e : this.otherSettings.entrySet()){
-			sb.append(e.getKey() + " = " + e.getValue() + "\n");
+
+		sb.append("\nOther client settings added to rosie-client.config\n");	
+		for(Map.Entry<String, String> e : this.clientSettings.entrySet()){
+			sb.append("   > " + e.getKey() + " = " + e.getValue() + "\n");
 		}
 		
 		return sb.toString();
diff --git a/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java b/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java
index a7c2596ef3..fd3dfb1e42 100644
--- a/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java
+++ b/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java
@@ -59,7 +59,7 @@ public static String mapLTI(String word){
 		if (ltiMap.containsKey(word)){
 			return ltiMap.get(word);
 		}
-		String lti = "@" + new Integer(100000 + ltiMap.size()).toString();
+		String lti = "@" + String.valueOf(100000 + ltiMap.size());
 		ltiMap.put(word, lti);
 		return lti;
 	}
@@ -102,24 +102,21 @@ public static String mapLTIs(String text){
 	// It also creates a root smem source file and returns it
 	public static File configureSmem(RosieConfig config) throws IOException {
 		// Create the smem directory
-		File outputDir = new File(config.agentDir);
+		File outputDir = config.agentDir;
 		File smemDir = new File(outputDir, "/smem");
 		if(!smemDir.exists()){
 			smemDir.mkdir();
 		}
 
-		File rosieAgentDir = new File(config.rosieHome, "agent");
-		File templateDir = new File(rosieAgentDir, "/init-smem/templates");
+		File templateDir = new File(config.rosieAgentDir, "/init-smem/templates");
 		Stack<File> dirStack = new Stack<File>();
-		dirStack.push(rosieAgentDir);
+		dirStack.push(config.rosieAgentDir);
 		List<File> rosieFiles = new ArrayList<File>();
 		Map<String, File> createdFiles = new HashMap<String, File>();
 
 		// Parse the default smem config file
-		if(config.useDefaultSmemConfig){
-			File defaultSmemConfig = new File(config.rosieHome + "/agent/_smem_config.txt");
-			parseSmemConfigurationFile(defaultSmemConfig, smemDir, templateDir, dirStack, createdFiles, rosieFiles);
-		}
+		File defaultSmemConfig = new File(config.rosieAgentDir, "_smem_config.txt");
+		parseSmemConfigurationFile(defaultSmemConfig, smemDir, templateDir, dirStack, createdFiles, rosieFiles);
 
 		// Parse the custom smem config file
 		if(config.smemConfigFile != null){
@@ -127,15 +124,14 @@ public static File configureSmem(RosieConfig config) throws IOException {
 			parseSmemConfigurationFile(config.smemConfigFile, smemDir, templateDir, dirStack, createdFiles, rosieFiles);
 		}
 
-		// Copy the custom smem file
-		File customSmemFile = null;
-		if(config.customSmemFile != null){
-			customSmemFile = new File(outputDir, config.customSmemFile.getName());
-			copySmemFile(config.customSmemFile, customSmemFile);
+		// Add any other smem files
+		for(File smemFile : config.sourceSmemFiles){
+			File outFile = new File(outputDir, smemFile.getName());
+			copySmemFile(smemFile, outFile);
 		}
-		
+
 		// Create a file that sources all smem files needed by the agent
-		File sourceFile = writeSmemSourceFile(outputDir, rosieAgentDir, rosieFiles, createdFiles, customSmemFile);
+		File sourceFile = writeSmemSourceFile(outputDir, config.rosieAgentDir, config.sourceSmemFiles, rosieFiles, createdFiles);
 		return sourceFile;
 	}
 
@@ -165,7 +161,7 @@ private static String getFullPath(File f){
 	// Writes the root soar file that will source all smem knowledge needed by the agent
 	//   Returns the name of the created file
 	private static File writeSmemSourceFile(File outputDir, File rosieAgentDir, 
-				List<File> rosieFiles, Map<String, File> createdFiles, File customSmemFile) throws IOException {
+				List<File> smemFiles, List<File> rosieFiles, Map<String, File> createdFiles) throws IOException {
 
 		File sourceFile = new File(outputDir, SMEM_SOURCE_FILE);
 		Writer sourceWriter = new BufferedWriter(new FileWriter(sourceFile));
@@ -174,6 +170,15 @@ private static File writeSmemSourceFile(File outputDir, File rosieAgentDir,
 		sourceWriter.write("# This file was autogenerated by the SmemConfiguration\n");
 		sourceWriter.write("# This file will source different files that will initialize the agent's semantic memory\n\n");
 
+
+		// Source any smem files that were copied to the agent directory
+		sourceWriter.write("# Source any source-smem-file files that were copied by the SmemConfiguator tool\n");
+		sourceWriter.write("pushd " + getFullPath(outputDir) + "\n");
+		for(File f : smemFiles){
+			sourceWriter.write("   source " + f.getName() + "\n");
+		}
+		sourceWriter.write("popd\n\n");
+
 		// Source any rosie files 
 		sourceWriter.write("# Sourcing smem files in Rosie agent directory\n");
 		sourceWriter.write("pushd " + getFullPath(rosieAgentDir) + "\n");
@@ -192,19 +197,12 @@ private static File writeSmemSourceFile(File outputDir, File rosieAgentDir,
 		}
 		sourceWriter.append("popd\n\n");
 
-		sourceWriter.write("pushd " + getFullPath(outputDir) + "\n");
-		// Source the customSmemFile, if it exists
-		if (customSmemFile != null && customSmemFile.exists()){
-			sourceWriter.write("   # Sourcing custom smem information specific to this agent\n");
-			sourceWriter.write("   source " + customSmemFile.getName() + "\n\n");
-		}
-
 		// Source the smem directory and all created files inside
-		sourceWriter.write("   # Source the smem files that were created by the SmemConfiguator tool\n");
+		sourceWriter.write("# Source the smem files that were created by the SmemConfiguator tool\n");
+		sourceWriter.write("pushd " + getFullPath(outputDir) + "\n");
 		for(File f : createdFiles.values()){
 			sourceWriter.write("   source smem/" + f.getName() + "\n");
 		}
-
 		sourceWriter.write("popd\n\n");
 
 		sourceWriter.close();
@@ -218,6 +216,7 @@ private static File writeSmemSourceFile(File outputDir, File rosieAgentDir,
 	private static void parseSmemConfigurationFile(File configFile, File smemDir, File templateDir, Stack<File> dirStack, 
 			Map<String, File> createdFiles, List<File> rosieFiles) {
 		if(configFile == null || !configFile.exists()){
+			System.out.println("ERROR: File " + configFile.getName() + " does not exist!");
 			return;
 		}
 
@@ -278,7 +277,7 @@ else if (line.startsWith("process-file") && args.length > 1){
 					File outputFile = new File(smemDir, "/" + sourceFile.getName());
 					if(sourceFile.exists()){
 						copySmemFile(sourceFile, outputFile);
-						createdFiles.put(outputFile.getName(), outputFile);
+						createdFiles.put(outputFile.getAbsolutePath(), outputFile);
 					}
 				}
 			} catch (IOException e){
diff --git a/tools/scripts/build_agent.sh b/tools/scripts/build_agent.sh
index 6e15781529..bcc6470489 100755
--- a/tools/scripts/build_agent.sh
+++ b/tools/scripts/build_agent.sh
@@ -1,9 +1,3 @@
 #!/bin/bash
 
-cd $ROSIE_HOME/test-agents/$1
-
-if [ $# -eq 1 ]; then
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator $1.config
-else
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator $2.config
-fi
+java edu.umich.rosie.tools.config.RosieAgentConfigurator $1
diff --git a/tools/scripts/custom_completions.sh b/tools/scripts/custom_completions.sh
index 1176a5997f..ae8ced2725 100755
--- a/tools/scripts/custom_completions.sh
+++ b/tools/scripts/custom_completions.sh
@@ -1,11 +1,11 @@
 #!/bin/bash
 
-# Autocomplete map files in $ROSIE_HOME/tools/map_info
-_map_info_completion()
-{
-	local cur=${COMP_WORDS[COMP_CWORD]}
-	COMPREPLY=( $(compgen -W "$(ls $ROSIE_HOME/tools/map_info)" -- $cur) )
-}
+## Autocomplete map files in $ROSIE_HOME/tools/map_info
+#_map_info_completion()
+#{
+#	local cur=${COMP_WORDS[COMP_CWORD]}
+#	COMPREPLY=( $(compgen -W "$(ls $ROSIE_HOME/tools/map_info)" -- $cur) )
+#}
 
 # Autocomplete rosie agents in $ROSIE_HOME/test-agents
 _rosie_agents_completion()
diff --git a/tools/scripts/run_task_learning_tests.sh b/tools/scripts/run_task_learning_tests.sh
index 9e87df4a1b..db2f7c6fdb 100755
--- a/tools/scripts/run_task_learning_tests.sh
+++ b/tools/scripts/run_task_learning_tests.sh
@@ -82,7 +82,7 @@ for test in	${TESTS_TO_RUN[*]}; do
 		python3 -m rosie.testing $test $VERBOSE
 	else
 		echo "Running $test using java"
-		java edu.umich.rosie.RosieCLI agent/rosie.$test.config
+		java edu.umich.rosie.RosieCLI agent/rosie-client.config
 	fi
 
 	if [[ $VERBOSE == "-v" ]]; then

From 1245e5a6d1526ad0a308ca441fe6b27d3ae084a6 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Sun, 2 May 2021 12:04:32 -0400
Subject: [PATCH 06/34] Working on documenting and refactoring agent settings

---
 agent/_soar_parameters.soar                   |   2 +
 .../smem-words/adjectives.soar                |   6 +-
 examples/template/Makefile                    |   4 +-
 examples/template/agent.config                |  92 +++++---------
 examples/template/extra-soar-rules.soar       |  32 -----
 examples/template/run_agent.py                |   4 +-
 examples/template/world.info                  |   2 +-
 java/src/edu/umich/rosie/AgentMenu.java       |  40 +++---
 java/src/edu/umich/rosie/RosieCLI.java        |  26 ++--
 .../connectors/ActionStackConnector.java      |   6 +-
 .../umich/rosie/connectors/LogfileWriter.java |   8 +-
 .../rosie/connectors/TaskTestWriter.java      |  24 ++--
 .../edu/umich/rosie/gui/BasicRosieGUI.java    |  28 ++---
 java/src/edu/umich/rosie/gui/SVSTester.java   |   8 +-
 .../edu/umich/rosie/language/ChatPanel.java   |  26 ++--
 .../rosie/language/LanguageConnector.java     |   8 +-
 .../rosie/language/LanguageTestWriter.java    |  10 +-
 .../umich/rosie/language/SpeechToText.java    |  10 +-
 .../edu/umich/rosie/soar/AgentConnector.java  |  18 +--
 .../umich/rosie/soar/FileWriterConnector.java |   4 +-
 .../soar/{SoarAgent.java => SoarClient.java}  |  18 +--
 .../edu/umich/rosie/soarobjects/Message.java  |   4 +-
 python/rosie/ActionStackConnector.py          |  17 +--
 python/rosie/CommandConnector.py              |  26 ++--
 .../rosie/{RosieAgent.py => RosieClient.py}   |  51 ++++----
 python/rosie/RosieGUI.py                      |  38 +++---
 python/rosie/__init__.py                      |   4 +-
 python/rosie/language/LanguageConnector.py    |  10 +-
 python/rosie/language/ScriptConnector.py      |  18 +--
 .../testing/{TestAgent.py => TesterClient.py} |  15 ++-
 python/rosie/testing/__init__.py              |   4 +-
 .../testing/{__main__.py => run_task_test.py} |   4 +-
 .../tools/mapmaker/create_internal_world.py   |   5 +-
 settings.md                                   | 114 ++++++++++++++++++
 .../conditionals/conditionals.config          |  96 ++++++---------
 .../conditionals/extra-soar-rules.soar        |  50 --------
 .../conditionals/internal-world.soar          |   5 +-
 .../task-tests/guide/correct-output.txt       |  11 ++
 .../task-tests/guide/extra-soar-rules.soar    |  48 --------
 test-agents/task-tests/guide/guide.config     |  94 ++++++---------
 .../task-tests/guide/internal-world.soar      |   5 +-
 test-agents/task-tests/internal-world.soar    |   6 +-
 test-agents/task-tests/kitchen/kitchen.config |  40 +++---
 .../task-tests/maintenance/maintenance.config |  75 +++++-------
 test-agents/task-tests/mobile/mobile.config   |  77 +++++-------
 .../modifiers/extra-soar-rules.soar           |  35 ------
 .../task-tests/modifiers/internal-world.soar  |   5 +-
 .../task-tests/modifiers/modifiers.config     |  93 ++++++--------
 .../prim-actions/prim-actions.config          |  76 +++++-------
 test-agents/task-tests/serve/serve.config     |  78 +++++-------
 test-agents/task-tests/testing-rules.soar     |   5 +-
 .../umich/rosie/tools/config/RosieConfig.java |  61 +++++-----
 .../rosie/tools/config/SmemConfigurator.java  |  14 +--
 tools/scripts/run_task_learning_tests.sh      |   2 +-
 54 files changed, 687 insertions(+), 875 deletions(-)
 rename java/src/edu/umich/rosie/soar/{SoarAgent.java => SoarClient.java} (96%)
 rename python/rosie/{RosieAgent.py => RosieClient.py} (80%)
 rename python/rosie/testing/{TestAgent.py => TesterClient.py} (83%)
 rename python/rosie/testing/{__main__.py => run_task_test.py} (82%)
 create mode 100644 settings.md
 delete mode 100644 test-agents/task-tests/conditionals/extra-soar-rules.soar
 delete mode 100644 test-agents/task-tests/guide/extra-soar-rules.soar

diff --git a/agent/_soar_parameters.soar b/agent/_soar_parameters.soar
index 28d08e2c8e..6dc8f6bcc3 100644
--- a/agent/_soar_parameters.soar
+++ b/agent/_soar_parameters.soar
@@ -52,3 +52,5 @@ epmem --set phase output
 epmem --set graph-match on
 
 
+###### SVS ######
+svs --enable
diff --git a/agent/language-comprehension/smem-words/adjectives.soar b/agent/language-comprehension/smem-words/adjectives.soar
index 81167fd01d..280490fa67 100644
--- a/agent/language-comprehension/smem-words/adjectives.soar
+++ b/agent/language-comprehension/smem-words/adjectives.soar
@@ -447,9 +447,9 @@ smem --add {
                    ^structure-type ADJ
                    ^referent @raw1)
            
-           (<open2> ^spelling |open|
-                   ^structure-type ADJ
-                   ^referent @open2)
+   #           (<open2> ^spelling |open|
+   #                   ^structure-type ADJ
+   #                   ^referent @open2)
 
          # AMADD: 
           (<open> ^spelling |opened|
diff --git a/examples/template/Makefile b/examples/template/Makefile
index f5eb5c581f..a9a1d73186 100644
--- a/examples/template/Makefile
+++ b/examples/template/Makefile
@@ -1,7 +1,7 @@
 AGENT_NAME=template
 
-ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
-TEST_CONFIG=test-agent/rosie.${AGENT_NAME}.config
+ROSIE_CONFIG=agent/rosie-client.config
+TEST_CONFIG=test-agent/rosie-client.config
 
 all: world ${ROSIE_CONFIG}
 
diff --git a/examples/template/agent.config b/examples/template/agent.config
index 03c94da8b2..fb045cb7c5 100644
--- a/examples/template/agent.config
+++ b/examples/template/agent.config
@@ -1,3 +1,11 @@
+####
+# agent-dir = <path> (Relative to the directory this file is in)
+#   OPTIONAL: default is the directory this config file is in
+# The directory to create the agent directory in
+# !NOTE: This setting should be at the top of the file
+#
+agent-dir = agent
+
 ###
 # agent-name = <string>
 #   OPTIONAL: default is the name of the config file (minus extension)
@@ -7,11 +15,28 @@ agent-name = template
 
 
 ####
-# agent-dir = <path> (Relative to the directory this file is in)
-#   OPTIONAL: default is the directory this config file is in
-# The directory to create the agent directory in
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
+
+source-soar-file = ${config-dir}/agent-settings.soar
+source-soar-file = ${config-dir}/extra-soar-rules.soar
+source-soar-file = ${config-dir}/internal-world.soar
+source-soar-file = ${config-dir}/waypoint-map.soar
 
-agent-dir = agent
+####
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the following path prefixes with the file:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
+
+source-smem-file = ${config-dir}/extra-smem-adds.soar
 
 
 ####
@@ -23,15 +48,6 @@ agent-dir = agent
 domain = magicbot
 
 
-####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-#simulate-perception = true
-
-
 ####
 # parser = << laird lucia >>
 #   OPTIONAL: Default is laird
@@ -41,25 +57,6 @@ domain = magicbot
 parser = laird
 
 
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-#internal-world-file = internal-world.soar
-
-
-####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
-
-#waypoint-map-file = waypoint-map.soar
-
-
 ####
 # sentence-source = << chat scripts >>
 #   OPTIONAL: Default is chat
@@ -78,11 +75,6 @@ sentence-source = chat
 
 sentences-file = script.txt
 
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-#use-script-connector = true
-
 
 ####
 # smem-config-file = <path> (Relative to the directory this file is in)
@@ -94,29 +86,8 @@ smem-config-file = smem-config.txt
 
 
 ####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
-
-
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
-####
-# Other Settings
-# Any additional settings here will be put into the autogenerated rosie.config file
+# CLIENT SETTINGS
+# Any additional settings here will be put into the autogenerated rosie-client.config file
 
 spawn-debugger = false
 
@@ -128,3 +99,4 @@ watch-level = 1
 reconfig-on-launch = true
 
 find-help = script
+
diff --git a/examples/template/extra-soar-rules.soar b/examples/template/extra-soar-rules.soar
index 9315b7aabb..73ea7724be 100644
--- a/examples/template/extra-soar-rules.soar
+++ b/examples/template/extra-soar-rules.soar
@@ -1,35 +1,3 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-        ^report-find-results true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-
-   )
-}
-
-svs --enable
-
-source internal-world.soar
-source waypoint-map.soar
-
 #### Increase the search depth over the default
 #sp {search-for-next-subtask*elaborate*search-phase-info
 #   (state <s> ^name search-for-next-subtask)
diff --git a/examples/template/run_agent.py b/examples/template/run_agent.py
index ac884ef4fc..4009fd2d0f 100644
--- a/examples/template/run_agent.py
+++ b/examples/template/run_agent.py
@@ -21,10 +21,10 @@ def main():
     agent_dir = rosie_home + "/examples/" + AGENT_NAME 
 
     if "--test" in sys.argv:
-        rosie_config = agent_dir + "/test-agent/rosie." + AGENT_NAME + ".config"
+        rosie_config = agent_dir + "/test-agent/rosie-client.config"
         run_test(rosie_config)
     else:
-        rosie_config = agent_dir + "/agent/rosie." + AGENT_NAME + ".config"
+        rosie_config = agent_dir + "/agent/rosie-client.config"
         launch_gui(rosie_config)
 
 def launch_gui(rosie_config):
diff --git a/examples/template/world.info b/examples/template/world.info
index fed745e15e..f315f2ba7b 100644
--- a/examples/template/world.info
+++ b/examples/template/world.info
@@ -10,7 +10,7 @@ region 4  12 10.5 0  6  9
 region 5 7.5  3 0  3  6 
 region 6 7.5 10.5 0  3  9 
 
-edge 1 5 door 6 3 0
+door 1 5 door 6 3 0 1.9 closed
 edge 3 6 door 6 10.5 0
 edge 2 5 door 9 3 3.14
 edge 4 6 door 9 10.5 3.14
diff --git a/java/src/edu/umich/rosie/AgentMenu.java b/java/src/edu/umich/rosie/AgentMenu.java
index 3e397eae59..4b6f06d724 100644
--- a/java/src/edu/umich/rosie/AgentMenu.java
+++ b/java/src/edu/umich/rosie/AgentMenu.java
@@ -7,23 +7,23 @@
 import javax.swing.JMenuItem;
 import javax.swing.JOptionPane;
 
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 
 public class AgentMenu extends JMenu{
-	private SoarAgent agent;
-	public AgentMenu(SoarAgent soarAgent){
+	private SoarClient client;
+	public AgentMenu(SoarClient soarClient){
 		super("Agent");
 		
-		this.agent = soarAgent;
+		this.client = soarClient;
     
 		// Full Reset: Completely clears all memories and re-sources the agent
 	    JMenuItem resetButton = new JMenuItem("Full Reset");
 	    resetButton.addActionListener(new ActionListener(){
 	    	public void actionPerformed(ActionEvent e){
-	    		if(agent.isRunning()){
-	    			JOptionPane.showMessageDialog(null, "The agent must be stopped first");
+	    		if(client.isRunning()){
+	    			JOptionPane.showMessageDialog(null, "The client must be stopped first");
 	    		} else {
-	    			agent.resetAgent();
+	    			client.resetAgent();
 	    		}
 	    	}
 	    });
@@ -35,10 +35,10 @@ public void actionPerformed(ActionEvent e){
 	    JMenuItem backupButton = new JMenuItem("Backup");
 	    backupButton.addActionListener(new ActionListener(){
 	    	public void actionPerformed(ActionEvent e){
-	    		if(agent.isRunning()){
-	    			JOptionPane.showMessageDialog(null, "The agent must be stopped first");
+	    		if(client.isRunning()){
+	    			JOptionPane.showMessageDialog(null, "The client must be stopped first");
 	    		} else {
-	    			agent.backup("default");
+	    			client.backup("default");
 	    		}
 	    	}
 	    });
@@ -48,10 +48,10 @@ public void actionPerformed(ActionEvent e){
 	    JMenuItem restoreButton = new JMenuItem("Restore");
 	    restoreButton.addActionListener(new ActionListener(){
 	    	public void actionPerformed(ActionEvent e){
-	    		if(agent.isRunning()){
-	    			JOptionPane.showMessageDialog(null, "The agent must be stopped first");
+	    		if(client.isRunning()){
+	    			JOptionPane.showMessageDialog(null, "The client must be stopped first");
 	    		} else {
-	    			agent.restore("default");
+	    			client.restore("default");
 	    		}
 	    	}
 	    });
@@ -61,15 +61,15 @@ public void actionPerformed(ActionEvent e){
 	    JMenuItem backupToFileButton = new JMenuItem("Backup To File");
 	    backupToFileButton.addActionListener(new ActionListener(){
 	    	public void actionPerformed(ActionEvent e){
-	    		if(agent.isRunning()){
-	    			JOptionPane.showMessageDialog(null, "The agent must be stopped first");
+	    		if(client.isRunning()){
+	    			JOptionPane.showMessageDialog(null, "The client must be stopped first");
 	    		} else {
 	        		String sessionName = JOptionPane.showInputDialog(null, 
 	          			  "Enter the session name to backup",
 	          			  "Backup To File",
 	          			  JOptionPane.QUESTION_MESSAGE);
 	        		if (sessionName != null && !(sessionName.equals(""))){
-				    agent.backup(sessionName);
+				    client.backup(sessionName);
 				  }
 				}
 	    	}
@@ -80,15 +80,15 @@ public void actionPerformed(ActionEvent e){
 	    JMenuItem restoreFromFileButton = new JMenuItem("Restore From File");
 	    restoreFromFileButton.addActionListener(new ActionListener(){
 	    	public void actionPerformed(ActionEvent e){
-	    		if(agent.isRunning()){
-	    			JOptionPane.showMessageDialog(null, "The agent must be stopped first");
+	    		if(client.isRunning()){
+	    			JOptionPane.showMessageDialog(null, "The client must be stopped first");
 	    		} else {
 	        		String sessionName = JOptionPane.showInputDialog(null, 
 	          			  "Enter the session name to restore",
 	          			  "Restore from File",
 	          			  JOptionPane.QUESTION_MESSAGE);
                                 if (sessionName != null && !(sessionName.equals(""))){
-				    agent.restore(sessionName);
+				    client.restore(sessionName);
 				 }
                                }
 	    	}
@@ -105,7 +105,7 @@ public void actionPerformed(ActionEvent e){
 	        			  "Enter the command",
 	        			  "SML Command",
 	        			  JOptionPane.QUESTION_MESSAGE);
-	  			System.out.println(agent.sendCommand(command));
+	  			System.out.println(client.sendCommand(command));
 	    	}
 	    });
 	    this.add(commandButton);  
diff --git a/java/src/edu/umich/rosie/RosieCLI.java b/java/src/edu/umich/rosie/RosieCLI.java
index f59c74c6c5..eb2e473e9b 100644
--- a/java/src/edu/umich/rosie/RosieCLI.java
+++ b/java/src/edu/umich/rosie/RosieCLI.java
@@ -12,31 +12,31 @@
 
 import edu.umich.rosie.language.InternalMessagePasser;
 import edu.umich.rosie.language.LanguageConnector;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.soar.debugger.SWTApplication;
 import edu.umich.rosie.connectors.ActionStackConnector;
 import edu.umich.rosie.connectors.TaskTestWriter;
 
 public class RosieCLI
 {
-	private SoarAgent soarAgent;
+	private SoarClient soarClient;
 
 	private LanguageConnector language;
 
     public RosieCLI(Properties props)
     {
-    	soarAgent = new SoarAgent(props);
+    	soarClient = new SoarClient(props);
     	
     	InternalMessagePasser internalPasser = new InternalMessagePasser();
     	
-    	language = new LanguageConnector(soarAgent, props, internalPasser);
-		soarAgent.addConnector(language);
+    	language = new LanguageConnector(soarClient, props, internalPasser);
+		soarClient.addConnector(language);
 
-		// print-action-stack = true
+		// use-action-stack-connector = true
 		// Create an ActionStackConnector and print any task events to the console
-		if(props.getProperty("print-action-stack", "false").equals("true")){
-			ActionStackConnector asConn = new ActionStackConnector(soarAgent);
-			soarAgent.addConnector(asConn);
+		if(props.getProperty("use-action-stack-connector", "false").equals("true")){
+			ActionStackConnector asConn = new ActionStackConnector(soarClient);
+			soarClient.addConnector(asConn);
 			asConn.registerForTaskEvent(new ActionStackConnector.TaskEventListener(){
 				public void taskEventHandler(String taskInfo){
 					System.out.println(taskInfo);
@@ -48,18 +48,18 @@ public void taskEventHandler(String taskInfo){
 		// Will add a TaskTestWriter and create an output file in the task testing format
 		String taskTestFilename = props.getProperty("task-test-output-filename", null);
 		if(taskTestFilename != null){
-			soarAgent.addConnector(new TaskTestWriter(soarAgent, taskTestFilename));
+			soarClient.addConnector(new TaskTestWriter(soarClient, taskTestFilename));
 		}
 
-    	soarAgent.createAgent();
+    	soarClient.createAgent();
     }
 
 	public void run(){
-		soarAgent.sendCommand("run");
+		soarClient.sendCommand("run");
 	}
 
 	public void shutdown(){
-		soarAgent.kill();
+		soarClient.kill();
 	}
 
     public static void main(String[] args) {
diff --git a/java/src/edu/umich/rosie/connectors/ActionStackConnector.java b/java/src/edu/umich/rosie/connectors/ActionStackConnector.java
index 02e978e44a..196d53ccc0 100644
--- a/java/src/edu/umich/rosie/connectors/ActionStackConnector.java
+++ b/java/src/edu/umich/rosie/connectors/ActionStackConnector.java
@@ -5,7 +5,7 @@
 import java.util.List;
 
 import edu.umich.rosie.soar.AgentConnector;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.rosie.soar.SoarUtil;
 import edu.umich.rosie.language.AgentMessageParser;
 import sml.Identifier;
@@ -18,8 +18,8 @@ public interface TaskEventListener {
 
 	private HashSet<TaskEventListener> listeners;
 	
-	public ActionStackConnector(SoarAgent agent){
-		super(agent);
+	public ActionStackConnector(SoarClient client){
+		super(client);
 		
         this.setOutputHandlerNames(new String[]{ "started-task", "completed-task" });
 		this.listeners = new HashSet<TaskEventListener>();
diff --git a/java/src/edu/umich/rosie/connectors/LogfileWriter.java b/java/src/edu/umich/rosie/connectors/LogfileWriter.java
index c5eb265658..e6c5286ba9 100644
--- a/java/src/edu/umich/rosie/connectors/LogfileWriter.java
+++ b/java/src/edu/umich/rosie/connectors/LogfileWriter.java
@@ -2,26 +2,26 @@
 
 import sml.*;
 import sml.Agent.PrintEventInterface;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.rosie.soar.FileWriterConnector;
 
 public class LogfileWriter extends FileWriterConnector implements PrintEventInterface {
 	private long printCallbackId = -1;
 
-	public LogfileWriter(SoarAgent agent, String filename){
+	public LogfileWriter(SoarClient agent, String filename){
 		super(agent, filename);
 	}
 
 	@Override
 	public void connect(){
-        printCallbackId = soarAgent.getAgent().RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT, this, null);
+        printCallbackId = soarClient.getAgent().RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT, this, null);
 		super.connect();
 	}
 	
 	@Override
 	public void disconnect(){
         if(printCallbackId != -1){
-            soarAgent.getAgent().UnregisterForPrintEvent(printCallbackId);
+            soarClient.getAgent().UnregisterForPrintEvent(printCallbackId);
 			printCallbackId = -1;
         }
 		super.disconnect();
diff --git a/java/src/edu/umich/rosie/connectors/TaskTestWriter.java b/java/src/edu/umich/rosie/connectors/TaskTestWriter.java
index 1c74d38827..c7f811cad8 100644
--- a/java/src/edu/umich/rosie/connectors/TaskTestWriter.java
+++ b/java/src/edu/umich/rosie/connectors/TaskTestWriter.java
@@ -2,7 +2,7 @@
 
 import sml.*;
 import sml.Agent.PrintEventInterface;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.rosie.soar.SoarUtil;
 import edu.umich.rosie.soar.FileWriterConnector;
 import edu.umich.rosie.connectors.ActionStackConnector;
@@ -15,13 +15,13 @@ public class TaskTestWriter extends FileWriterConnector
 							implements TaskEventListener, IMessageListener, PrintEventInterface {
 	private long printCallbackId = -1;
 
-	public TaskTestWriter(SoarAgent agent, String filename){
-		super(agent, filename);
+	public TaskTestWriter(SoarClient client, String filename){
+		super(client, filename);
 
-		// Ensure that the soar agent has an ActionStackConnector
-		ActionStackConnector asConn = soarAgent.getConnector(ActionStackConnector.class);
+		// Ensure that the soar client has an ActionStackConnector
+		ActionStackConnector asConn = soarClient.getConnector(ActionStackConnector.class);
 		if(asConn == null){
-			soarAgent.addConnector(new ActionStackConnector(soarAgent));
+			soarClient.addConnector(new ActionStackConnector(soarClient));
 		}
 
 		this.setOutputHandlerNames(new String[]{ "scripted-sentence" });
@@ -29,14 +29,14 @@ public TaskTestWriter(SoarAgent agent, String filename){
 
 	@Override
 	public void connect(){
-		soarAgent.getConnector(ActionStackConnector.class)
+		soarClient.getConnector(ActionStackConnector.class)
 			.registerForTaskEvent(this);
 
-		soarAgent.getConnector(LanguageConnector.class)
+		soarClient.getConnector(LanguageConnector.class)
 			.getMessagePasser()
 			.addMessageListener(this);
 
-        printCallbackId = soarAgent.getAgent().RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT, this, null);
+        printCallbackId = soarClient.getAgent().RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT, this, null);
 
 		super.connect();
 	}
@@ -44,15 +44,15 @@ public void connect(){
 	@Override
 	public void disconnect(){
 		
-		soarAgent.getConnector(ActionStackConnector.class)
+		soarClient.getConnector(ActionStackConnector.class)
 			.unregisterForTaskEvent(this);
 
-		soarAgent.getConnector(LanguageConnector.class)
+		soarClient.getConnector(LanguageConnector.class)
 			.getMessagePasser()
 			.removeMessageListener(this);
 
         if(printCallbackId != -1){
-            soarAgent.getAgent().UnregisterForPrintEvent(printCallbackId);
+            soarClient.getAgent().UnregisterForPrintEvent(printCallbackId);
 			printCallbackId = -1;
         }
 
diff --git a/java/src/edu/umich/rosie/gui/BasicRosieGUI.java b/java/src/edu/umich/rosie/gui/BasicRosieGUI.java
index 09d35faef2..5e969633b1 100644
--- a/java/src/edu/umich/rosie/gui/BasicRosieGUI.java
+++ b/java/src/edu/umich/rosie/gui/BasicRosieGUI.java
@@ -18,13 +18,13 @@
 import edu.umich.rosie.language.InstructorMessagePanel;
 import edu.umich.rosie.language.InternalMessagePasser;
 import edu.umich.rosie.language.LanguageConnector;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.rosie.connectors.ActionStackConnector;
 
 @SuppressWarnings("serial")
 public class BasicRosieGUI extends JFrame
 {
-	private SoarAgent soarAgent;
+	private SoarClient soarClient;
 
 	private JButton startStopButton;
 	
@@ -38,24 +38,24 @@ public BasicRosieGUI(Properties props)
     	getContentPane().setLayout(new BoxLayout(getContentPane(), BoxLayout.LINE_AXIS));
         addWindowListener(new WindowAdapter() {
         	public void windowClosing(WindowEvent w) {
-        		soarAgent.kill();
+        		soarClient.kill();
         	}
      	});
         this.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
 
 
-    	soarAgent = new SoarAgent(props);
+    	soarClient = new SoarClient(props);
     	
     	InternalMessagePasser internalPasser = new InternalMessagePasser();
     	
-    	language = new LanguageConnector(soarAgent, props, internalPasser);
-    	soarAgent.addConnector(language);
+    	language = new LanguageConnector(soarClient, props, internalPasser);
+    	soarClient.addConnector(language);
 
 		// print-action-stack = true
 		// Create an ActionStackConnector and print any task events to the console
 		if(props.getProperty("print-action-stack", "false").equals("true")){
-			ActionStackConnector asConn = new ActionStackConnector(soarAgent);
-			soarAgent.addConnector(asConn);
+			ActionStackConnector asConn = new ActionStackConnector(soarClient);
+			soarClient.addConnector(asConn);
 			asConn.registerForTaskEvent(new ActionStackConnector.TaskEventListener(){
 				public void taskEventHandler(String taskInfo){
 					System.out.println(taskInfo);
@@ -63,14 +63,14 @@ public void taskEventHandler(String taskInfo){
 			});
 		}
 
-    	ChatPanel chat = new ChatPanel(soarAgent, this, internalPasser);
+    	ChatPanel chat = new ChatPanel(soarClient, this, internalPasser);
     	this.add(chat);
     	
     	add(new InstructorMessagePanel(chat, props));
 
     	setupMenu();
     	
-    	soarAgent.createAgent();
+    	soarClient.createAgent();
     	
     	this.setVisible(true);
     }
@@ -81,12 +81,12 @@ private void setupMenu(){
     	startStopButton = new JButton("START");
         startStopButton.addActionListener(new ActionListener(){
 			public void actionPerformed(ActionEvent arg0) {
-				if(soarAgent.isRunning()){
+				if(soarClient.isRunning()){
 					startStopButton.setText("START");
-					soarAgent.stop();
+					soarClient.stop();
 				} else {
 					startStopButton.setText("STOP");
-					soarAgent.start();
+					soarClient.start();
 				}
 			}
         });
@@ -94,7 +94,7 @@ public void actionPerformed(ActionEvent arg0) {
         
         menuBar.add(startStopButton);
 
-    	menuBar.add(new AgentMenu(soarAgent));
+    	menuBar.add(new AgentMenu(soarClient));
     	
     	this.setJMenuBar(menuBar);
     }
diff --git a/java/src/edu/umich/rosie/gui/SVSTester.java b/java/src/edu/umich/rosie/gui/SVSTester.java
index 2f61541235..7067b7edd8 100644
--- a/java/src/edu/umich/rosie/gui/SVSTester.java
+++ b/java/src/edu/umich/rosie/gui/SVSTester.java
@@ -5,7 +5,7 @@
 import java.util.Properties;
 
 import edu.umich.rosie.soar.SVSCommands;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import sml.Kernel;
 import sml.Agent;
 
@@ -30,13 +30,13 @@ public static void main(String[] args) {
     }
 
 	public SVSTester(Properties props){
-		SoarAgent agent = new SoarAgent(props);
-		agent.createAgent();
+		SoarClient client = new SoarClient(props);
+		client.createAgent();
 		StringBuilder sb = new StringBuilder();
 		sb.append(SVSCommands.addBox("box1", new double[]{1, 1, 0}, new double[]{0.5, 0.5, 0.5}));
 		sb.append(SVSCommands.addBox("box2", new double[]{1, -0.5, 0}, new double[]{0.5, 0.5, 0.5}));
 		sb.append(SVSCommands.addBox("box3", new double[]{1, 0, 0}, new double[]{0.5, 0.5, 0.5}));
-		agent.getAgent().SendSVSInput(sb.toString());
+		client.getAgent().SendSVSInput(sb.toString());
 		while(true){}
 	}
 }
diff --git a/java/src/edu/umich/rosie/language/ChatPanel.java b/java/src/edu/umich/rosie/language/ChatPanel.java
index a1a32299ce..7744fac10c 100644
--- a/java/src/edu/umich/rosie/language/ChatPanel.java
+++ b/java/src/edu/umich/rosie/language/ChatPanel.java
@@ -25,7 +25,7 @@
 
 import edu.umich.rosie.language.LanguageConnector.MessageType;
 import edu.umich.rosie.language.IMessagePasser.*;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 
 public class ChatPanel extends JPanel implements IMessagePasser.IMessageListener{
 	// GUI COMPONENTS
@@ -54,14 +54,14 @@ public class ChatPanel extends JPanel implements IMessagePasser.IMessageListener
     // OTHER
     private Object outputLock = new Object();
     
-    private SoarAgent soarAgent;
+    private SoarClient soarClient;
     
     private IMessagePasser messageLogger;
 
 	private BlockingQueue<RosieMessage> queuedMessages = new LinkedBlockingQueue<RosieMessage>();
 
-    public ChatPanel(SoarAgent agent, JFrame parentFrame, IMessagePasser messageLogger) {
-        this.soarAgent = agent;
+    public ChatPanel(SoarClient client, JFrame parentFrame, IMessagePasser messageLogger) {
+        this.soarClient = client;
         
         setupGUI(parentFrame);
 		setupStyles();
@@ -203,7 +203,7 @@ protected void process(List<RosieMessage> messages){
 			for(RosieMessage message : messages){
 				Style msgStyle = chatDoc.getStyle(message.type.toString());
 				DateFormat dateFormat = new SimpleDateFormat("mm:ss:SSS");
-				//int dc = soarAgent.getAgent().GetDecisionCycleCounter();
+				//int dc = soarClient.getAgent().GetDecisionCycleCounter();
 				Date d = new Date();
 				
 				//String fullMessage = dc + " " + dateFormat.format(d) + " ";
@@ -250,21 +250,21 @@ public void keyPressed(KeyEvent arg0) {
 				upPressed();
 			} else if(arg0.getKeyCode() == KeyEvent.VK_DOWN){
 				downPressed();
-			} else if(arg0.getKeyCode() == KeyEvent.VK_CONTROL && soarAgent != null){
-				LanguageConnector lang = soarAgent.getConnector(LanguageConnector.class);
+			} else if(arg0.getKeyCode() == KeyEvent.VK_CONTROL && soarClient != null){
+				LanguageConnector lang = soarClient.getConnector(LanguageConnector.class);
 				//lang.getSTT().startListening();
 			}
 		}
 		public void keyReleased(KeyEvent arg0) {
-			if(arg0.getKeyCode() == KeyEvent.VK_CONTROL && soarAgent != null){
-				LanguageConnector lang = soarAgent.getConnector(LanguageConnector.class);
+			if(arg0.getKeyCode() == KeyEvent.VK_CONTROL && soarClient != null){
+				LanguageConnector lang = soarClient.getConnector(LanguageConnector.class);
 				//lang.getSTT().stopListening();
 			}
-			if(arg0.getKeyCode() == KeyEvent.VK_F1 && soarAgent != null){
-				if(soarAgent.isRunning()){
-					soarAgent.stop();
+			if(arg0.getKeyCode() == KeyEvent.VK_F1 && soarClient != null){
+				if(soarClient.isRunning()){
+					soarClient.stop();
 				} else {
-					soarAgent.start();
+					soarClient.start();
 				}
 			}
 		}
diff --git a/java/src/edu/umich/rosie/language/LanguageConnector.java b/java/src/edu/umich/rosie/language/LanguageConnector.java
index a82e53fe56..83a6ad710e 100644
--- a/java/src/edu/umich/rosie/language/LanguageConnector.java
+++ b/java/src/edu/umich/rosie/language/LanguageConnector.java
@@ -5,7 +5,7 @@
 
 import edu.umich.rosie.language.IMessagePasser.RosieMessage;
 import edu.umich.rosie.soar.AgentConnector;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.rosie.soar.SoarUtil;
 import edu.umich.rosie.soarobjects.Message;
 import sml.Identifier;
@@ -29,14 +29,14 @@ public enum MessageType{
 	
 	private IMessagePasser messagePasser;
 	
-	public LanguageConnector(SoarAgent agent, Properties props, IMessagePasser messagePasser){
-		super(agent);
+	public LanguageConnector(SoarClient client, Properties props, IMessagePasser messagePasser){
+		super(client);
 		
 		//String speechFile =
 				props.getProperty("speech-file", "audio_file/sample");
 		
         this.tts = new TextToSpeech();
-        //this.stt = new SpeechToText(speechFile, agent);
+        //this.stt = new SpeechToText(speechFile, client);
         
         curMessage = null;
         messagesToRemove = new HashSet<Message>();
diff --git a/java/src/edu/umich/rosie/language/LanguageTestWriter.java b/java/src/edu/umich/rosie/language/LanguageTestWriter.java
index a918710c93..b2ec36462f 100644
--- a/java/src/edu/umich/rosie/language/LanguageTestWriter.java
+++ b/java/src/edu/umich/rosie/language/LanguageTestWriter.java
@@ -2,26 +2,26 @@
 
 import sml.*;
 import sml.Agent.PrintEventInterface;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 import edu.umich.rosie.soar.FileWriterConnector;
 
 public class LanguageTestWriter extends FileWriterConnector implements PrintEventInterface {
 	private long printCallbackId = -1;
 
-	public LanguageTestWriter(SoarAgent agent, String filename){
-		super(agent, filename);
+	public LanguageTestWriter(SoarClient client, String filename){
+		super(client, filename);
 	}
 
 	@Override
 	public void connect(){
-        printCallbackId = soarAgent.getAgent().RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT, this, null);
+        printCallbackId = soarClient.getAgent().RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT, this, null);
 		super.connect();
 	}
 	
 	@Override
 	public void disconnect(){
         if(printCallbackId != -1){
-            soarAgent.getAgent().UnregisterForPrintEvent(printCallbackId);
+            soarClient.getAgent().UnregisterForPrintEvent(printCallbackId);
 			printCallbackId = -1;
         }
 		super.disconnect();
diff --git a/java/src/edu/umich/rosie/language/SpeechToText.java b/java/src/edu/umich/rosie/language/SpeechToText.java
index 19b0a456d1..b995cf7299 100644
--- a/java/src/edu/umich/rosie/language/SpeechToText.java
+++ b/java/src/edu/umich/rosie/language/SpeechToText.java
@@ -10,7 +10,7 @@
 import javax.sound.sampled.TargetDataLine;
 
 import edu.umich.rosie.language.LanguageConnector.MessageType;
-import edu.umich.rosie.soar.SoarAgent;
+import edu.umich.rosie.soar.SoarClient;
 
 public class SpeechToText {
     // Audio Recorder for Speech to Text
@@ -22,11 +22,11 @@ public class SpeechToText {
 
     private String speechFile;
     
-    private SoarAgent soarAgent;
+    private SoarClient soarClient;
 
-    public SpeechToText(String speechFile, SoarAgent soarAgent){
+    public SpeechToText(String speechFile, SoarClient soarClient){
         this.speechFile = speechFile;
-        this.soarAgent = soarAgent;
+        this.soarClient = soarClient;
 
     	this.audioFormat = new AudioFormat(AudioFormat.Encoding.PCM_SIGNED, 16000.0F, 16, 1, 2, 16000.0F, false);
         this.audioFile = new File("audio_files/forward.raw");
@@ -67,7 +67,7 @@ public void stopListening(){
     		result = result.toLowerCase();
 
     	System.out.println("STT Result: " + result);
-		LanguageConnector conn = soarAgent.getConnector(LanguageConnector.class);
+		LanguageConnector conn = soarClient.getConnector(LanguageConnector.class);
     	conn.sendMessage(result, MessageType.INSTRUCTOR_MESSAGE);
 	}
 }
diff --git a/java/src/edu/umich/rosie/soar/AgentConnector.java b/java/src/edu/umich/rosie/soar/AgentConnector.java
index 9114ad6a9c..dd488ac67d 100644
--- a/java/src/edu/umich/rosie/soar/AgentConnector.java
+++ b/java/src/edu/umich/rosie/soar/AgentConnector.java
@@ -8,7 +8,7 @@
 import sml.Kernel.AgentEventInterface;
 
 public abstract class AgentConnector implements OutputEventInterface, RunEventInterface, AgentEventInterface {
-    protected SoarAgent soarAgent;
+    protected SoarClient soarClient;
     
     private String[] outputHandlerNames;
     private HashSet<Long> outputHandlerCallbackIds;
@@ -17,8 +17,8 @@ public abstract class AgentConnector implements OutputEventInterface, RunEventIn
     
     private boolean connected;
 	
-	public AgentConnector(SoarAgent agent){
-        this.soarAgent = agent;
+	public AgentConnector(SoarClient client){
+        this.soarClient = client;
         
         this.outputHandlerCallbackIds = new HashSet<Long>();
         this.outputHandlerNames = new String[]{};
@@ -53,13 +53,13 @@ public void connect(){
 			return;
 		}
 		for(String name : outputHandlerNames){
-			outputHandlerCallbackIds.add(soarAgent.getAgent().AddOutputHandler(name, this, null));
+			outputHandlerCallbackIds.add(soarClient.getAgent().AddOutputHandler(name, this, null));
 		}
 
-		inputPhaseCallbackId = soarAgent.getAgent().RegisterForRunEvent(
+		inputPhaseCallbackId = soarClient.getAgent().RegisterForRunEvent(
                 smlRunEventId.smlEVENT_BEFORE_INPUT_PHASE, this, null);
 		
-		initAgentCallbackId = soarAgent.getAgent().GetKernel().RegisterForAgentEvent(
+		initAgentCallbackId = soarClient.getAgent().GetKernel().RegisterForAgentEvent(
 				smlAgentEventId.smlEVENT_BEFORE_AGENT_REINITIALIZED, this, null);
 		
 		connected = true;
@@ -71,14 +71,14 @@ public void disconnect(){
 		}
 		
 		for(Long callbackId : outputHandlerCallbackIds){
-			soarAgent.getAgent().RemoveOutputHandler(callbackId);
+			soarClient.getAgent().RemoveOutputHandler(callbackId);
 		}
 		outputHandlerCallbackIds.clear();
 
-		soarAgent.getAgent().UnregisterForRunEvent(inputPhaseCallbackId);
+		soarClient.getAgent().UnregisterForRunEvent(inputPhaseCallbackId);
 		inputPhaseCallbackId = 0;
 		
-		soarAgent.getAgent().GetKernel().UnregisterForAgentEvent(initAgentCallbackId);
+		soarClient.getAgent().GetKernel().UnregisterForAgentEvent(initAgentCallbackId);
 		initAgentCallbackId = 0;
 
 		connected = false;
diff --git a/java/src/edu/umich/rosie/soar/FileWriterConnector.java b/java/src/edu/umich/rosie/soar/FileWriterConnector.java
index 1f78084235..39ddf8d05a 100644
--- a/java/src/edu/umich/rosie/soar/FileWriterConnector.java
+++ b/java/src/edu/umich/rosie/soar/FileWriterConnector.java
@@ -8,8 +8,8 @@ public abstract class FileWriterConnector extends AgentConnector {
 	protected String filename;
     protected PrintStream writer = null;
 
-	public FileWriterConnector(SoarAgent agent, String filename){
-		super(agent);
+	public FileWriterConnector(SoarClient client, String filename){
+		super(client);
 
 		this.filename = filename;
 	}
diff --git a/java/src/edu/umich/rosie/soar/SoarAgent.java b/java/src/edu/umich/rosie/soar/SoarClient.java
similarity index 96%
rename from java/src/edu/umich/rosie/soar/SoarAgent.java
rename to java/src/edu/umich/rosie/soar/SoarClient.java
index 29abc25d7f..4da509ecb1 100644
--- a/java/src/edu/umich/rosie/soar/SoarAgent.java
+++ b/java/src/edu/umich/rosie/soar/SoarClient.java
@@ -11,8 +11,8 @@
 import edu.umich.rosie.soarobjects.Time;
 import edu.umich.rosie.connectors.LogfileWriter;
 
-public class SoarAgent implements RunEventInterface, PrintEventInterface, OutputEventInterface {
-    public static class AgentConfig{
+public class SoarClient implements RunEventInterface, PrintEventInterface, OutputEventInterface {
+    public static class ClientConfig{
         public final String agentName;
         public final String agentSource;
         public final String smemSource;
@@ -39,7 +39,7 @@ public static class AgentConfig{
 		public final int clockStepMS;
 
 
-        public AgentConfig(Properties props){
+        public ClientConfig(Properties props){
             spawnDebugger = props.getProperty("spawn-debugger", "true").equals("true");
             startRunning = props.getProperty("start-running", "false").equals("true");
             writeStandardOut = props.getProperty("write-to-stdout", "false").equals("true");
@@ -47,7 +47,7 @@ public AgentConfig(Properties props){
             parser = props.getProperty("parser", "lucia");
             parserTest = props.getProperty("parser-test", "false").equals("true");
            
-            agentName = props.getProperty("agent-name", "SoarAgent");
+            agentName = props.getProperty("agent-name", "soaragent");
             agentSource = props.getProperty("agent-source", null);
             smemSource = props.getProperty("smem-source", null);
             verbose = props.getProperty("verbose", "true").equals("true");
@@ -86,7 +86,7 @@ private int getIntProp(Properties props, String propName, int defVal){
     private Kernel kernel;
     private Agent agent;
 
-    private AgentConfig config;
+    private ClientConfig config;
 
     private boolean debuggerSpawned = false;
     private boolean isRunning = false;
@@ -99,8 +99,8 @@ private int getIntProp(Properties props, String propName, int defVal){
 
     private ArrayList<Long> outputHandlerCallbackIds;
 
-    public SoarAgent(Properties props){
-        this.config = new AgentConfig(props);
+    public SoarClient(Properties props){
+        this.config = new ClientConfig(props);
 
         runEventCallbackIds = new ArrayList<Long>();
         outputHandlerCallbackIds = new ArrayList<Long>();
@@ -168,7 +168,7 @@ protected void processSetTimeMessage(Identifier id){
 	}
 	
     public void createAgent(){
-        //System.out.println("SoarAgent::createAgent()");
+        //System.out.println("SoarClient::createAgent()");
         // Initialize Soar Agent
         if(config.remoteConnection){
 			agent = kernel.GetAgentByIndex(0);
@@ -243,7 +243,7 @@ public void stop(){
     }
 
     public void kill(){
-        System.out.println("SoarAgent::kill()");
+        System.out.println("SoarClient::kill()");
         queueStop = true;
         while(isRunning){
             try {
diff --git a/java/src/edu/umich/rosie/soarobjects/Message.java b/java/src/edu/umich/rosie/soarobjects/Message.java
index 3bd74a082a..66bdbe3d10 100644
--- a/java/src/edu/umich/rosie/soarobjects/Message.java
+++ b/java/src/edu/umich/rosie/soarobjects/Message.java
@@ -69,8 +69,8 @@ public void addToWM(Identifier parentID){
         	}
 			if(word.indexOf(':') > 0){
 				nextID.CreateStringWME("clocktime", "true");
-				nextID.CreateIntWME("hour", new Integer(word.split("-")[0]));
-				nextID.CreateIntWME("minute", new Integer(word.split("-")[1]));
+				nextID.CreateIntWME("hour", Integer.parseInt(word.split("-")[0]));
+				nextID.CreateIntWME("minute", Integer.parseInt(word.split("-")[1]));
 			}
 
         	nextID.CreateStringWME("spelling", word.toLowerCase());
diff --git a/python/rosie/ActionStackConnector.py b/python/rosie/ActionStackConnector.py
index 9a56472470..275b64736e 100644
--- a/python/rosie/ActionStackConnector.py
+++ b/python/rosie/ActionStackConnector.py
@@ -8,8 +8,9 @@
 from pysoarlib import AgentConnector
 
 class ActionStackConnector(AgentConnector):
-    def __init__(self, agent, print_handler=None):
-        AgentConnector.__init__(self, agent, print_handler)
+    def __init__(self, client):
+        AgentConnector.__init__(self, client)
+        self.client.add_agent_param("report-tasks-to-output-link", "true")
         self.add_output_command("started-task")
         self.add_output_command("completed-task")
 
@@ -30,10 +31,10 @@ def process_started_task(self, root_id):
             seg_id = root_id.GetChildId("segment")
             depth = seg_id.GetChildInt("depth")
             task_id = seg_id.GetChildId("task-operator")
-            self.agent.dispatch_event(TaskStarted(task_to_str(task_id), depth))
+            self.client.dispatch_event(TaskStarted(task_to_str(task_id), depth))
         except:
-            self.print_handler("Error Parsing Starteded Task")
-            self.print_handler(traceback.format_exc())
+            self.client.print_handler("Error Parsing Starteded Task")
+            self.client.print_handler(traceback.format_exc())
         root_id.CreateStringWME("handled", "true")
 
     def process_completed_task(self, root_id):
@@ -41,8 +42,8 @@ def process_completed_task(self, root_id):
             seg_id = root_id.GetChildId("segment")
             depth = seg_id.GetChildInt("depth")
             task_id = seg_id.GetChildId("task-operator")
-            self.agent.dispatch_event(TaskCompleted(task_to_str(task_id), depth))
+            self.client.dispatch_event(TaskCompleted(task_to_str(task_id), depth))
         except:
-            self.print_handler("Error Parsing Completed Task")
-            self.print_handler(traceback.format_exc())
+            self.client.print_handler("Error Parsing Completed Task")
+            self.client.print_handler(traceback.format_exc())
         root_id.CreateStringWME("handled", "true")
diff --git a/python/rosie/CommandConnector.py b/python/rosie/CommandConnector.py
index f169f2dc30..1a96be3868 100644
--- a/python/rosie/CommandConnector.py
+++ b/python/rosie/CommandConnector.py
@@ -10,8 +10,8 @@
 current_time_ms = lambda: int(round(time.time() * 1000))
 
 class CommandConnector(AgentConnector):
-    def __init__(self, agent, print_handler=None):
-        AgentConnector.__init__(self, agent, print_handler)
+    def __init__(self, client):
+        AgentConnector.__init__(self, client)
         self.queued_command = None
         self.active_command = None
         self.wait_time = 0
@@ -24,7 +24,7 @@ def handle_command(self, command):
 
     def on_output_event(self, command_name, root_id):
         if command_name == "handled-command":
-            self.agent.dispatch_event(CommandHandled(root_id.GetChildString("command")))
+            self.client.dispatch_event(CommandHandled(root_id.GetChildString("command")))
             root_id.CreateStringWME("handled", "true")
 
     def on_input_phase(self, input_link):
@@ -46,7 +46,7 @@ def complete_command(self):
         if self.active_command is not None:
             command = self.active_command
             self.active_command = None
-            self.agent.dispatch_event(CommandHandled(command))
+            self.client.dispatch_event(CommandHandled(command))
 
     def _execute_command(self, command):
         self.active_command = command
@@ -60,11 +60,11 @@ def _execute_command(self, command):
 
         # START
         if cmd_name == 'start':
-            self.agent.start()
+            self.client.start()
             complete_now = True
         # STOP
         elif cmd_name == 'stop':
-            self.agent.stop()
+            self.client.stop()
             complete_now = True
         # WAIT <secs>
         #   will wait the given number of seconds before reporting success
@@ -77,7 +77,7 @@ def _execute_command(self, command):
         # CLI arg1 arg2 ...
         #   will execute a soar command (e.g. "CLI p s1 -d 2")
         elif cmd_name == 'cli':
-            self.agent.execute_command(' '.join(args[1:]), print_res=True)
+            self.client.execute_command(' '.join(args[1:]), print_res=True)
             complete_now = True
         # IGNORE/SKIP
         #   will ignore what Rosie said
@@ -87,7 +87,7 @@ def _execute_command(self, command):
         # SET-TIME <H> <MIN>
         #   will set the input-link clock to the specific time
         elif cmd_name == 'set-time':
-            self.agent.get_connector('time').set_time(int(args[1]), int(args[2]))
+            self.client.get_connector('time').set_time(int(args[1]), int(args[2]))
             complete_now = True
 
         ### CHANGING PREDICATES
@@ -145,19 +145,19 @@ def _handle_teleport_command(self, obj_id, x, y, z, wp_handle):
 
 
 class InternalCommandConnector(CommandConnector):
-    def __init__(self, agent, print_handler=None):
-        CommandConnector.__init__(self, agent, print_handler)
+    def __init__(self, client):
+        CommandConnector.__init__(self, client)
 
     def _handle_set_pred_command(self, obj_id, prop_handle, pred_handle):
-        self.agent.get_connector("language").send_message(self.active_command)
+        self.client.get_connector("language").send_message(self.active_command)
         return False
 
     def _handle_place_command(self, obj_id, rel_handle, dest_id):
-        self.agent.get_connector("language").send_message(self.active_command)
+        self.client.get_connector("language").send_message(self.active_command)
         return False
 
     def _handle_move_command(self, obj_id, wp_handle):
-        self.agent.get_connector("language").send_message(self.active_command)
+        self.client.get_connector("language").send_message(self.active_command)
         return False
 
     def _handle_teleport_command(self, obj_id, x, y, z, wp_handle):
diff --git a/python/rosie/RosieAgent.py b/python/rosie/RosieClient.py
similarity index 80%
rename from python/rosie/RosieAgent.py
rename to python/rosie/RosieClient.py
index 1f52f9127e..cd5568b15a 100644
--- a/python/rosie/RosieAgent.py
+++ b/python/rosie/RosieClient.py
@@ -1,8 +1,8 @@
 import subprocess
 import random
 
-from pysoarlib import SoarAgent
-from rosie import CommandConnector, InternalCommandConnector
+from pysoarlib import SoarClient
+from rosie import ActionStackConnector, CommandConnector, InternalCommandConnector
 from rosie.events import InstructorMessageSent
 from rosie.language import LanguageConnector, ScriptConnector
 
@@ -16,8 +16,8 @@
 }}
 """
 
-class RosieAgent(SoarAgent):
-    """ Wraps the standard pysoarlib SoarAgent with a few rosie-specific config settings and features
+class RosieClient(SoarClient):
+    """ Wraps the standard pysoarlib SoarClient with a few rosie-specific config settings and features
 
         source_config = [string]
             The file used to configure this agent (Rosie-specific configuration)
@@ -31,15 +31,15 @@ class RosieAgent(SoarAgent):
         messages_file = [filename]
             A text file containing sentences to use as a script for Rosie (one sentence per line)
 
+        use_action_stack_connector = true|false 
+            If true, adds an ActionStackConnector to print out task events
+
         use_script_connector = true|false (default=false)
             If true, adds a ScriptConnector which will automatically send messages to the agent
 
         use_command_connector = true|false (default=true)
             If true, will create a command connector to handle special instructor commands that change the world/agent
 
-        custom_language_connector = true|false (default=false)
-            If true, will rely on a subclass to create the language connector
-
         agent_params = { }
             Specify att/val pairs to add to the ^agent-params wme in working memory
 
@@ -54,23 +54,26 @@ class RosieAgent(SoarAgent):
 
 
     def __init__(self, print_handler=None, config_filename=None, sim_clock=True, **kwargs):
-        SoarAgent.__init__(self, print_handler, config_filename, use_time_connector=True, sim_clock=sim_clock, **kwargs)
+        SoarClient.__init__(self, print_handler, config_filename, use_time_connector=True, sim_clock=sim_clock, **kwargs)
 
         # Create the default language connector
-        if not self.custom_language_connector:
-            self.add_connector("language", LanguageConnector(self, self.print_handler))
+        self.add_connector("language", LanguageConnector(self))
+
+        # If use_action_stack_connector = True, adds an ActionStackConnector
+        if self.use_action_stack_connector:
+            self.add_connector("action_stack", ActionStackConnector(self))
 
         # If use_script_connector = True, add a ScriptConnector
         #   This will automatically run through the messages and send the to the agent
         if self.use_script_connector:
-            self.add_connector("script", ScriptConnector(self, self.find_help, self.print_handler))
+            self.add_connector("script", ScriptConnector(self, self.find_help))
 
-        # Create the default command connector
-        if self.use_command_connector:
-            if self.domain == "internal":
-                self.add_connector("commands", InternalCommandConnector(self, self.print_handler))
-            else:
-                self.add_connector("commands", CommandConnector(self, self.print_handler))
+        ## Create the default command connector
+        #if self.use_command_connector:
+        #    if self.domain == "internal":
+        #        self.add_connector("commands", InternalCommandConnector(self))
+        #    else:
+        #        self.add_connector("commands", CommandConnector(self))
 
         # Map from an Event Class to callback methods that will handle the event
         self.event_handlers = { }
@@ -130,7 +133,7 @@ def _read_messages(self):
             pass
 
     def _apply_settings(self):
-        SoarAgent._apply_settings(self)
+        SoarClient._apply_settings(self)
 
         # Rosie-specific settings
         self.source_config = self.settings.get("source_config", None)
@@ -138,7 +141,8 @@ def _apply_settings(self):
 
         self.messages_file = self.settings.get("messages_file", None)
 
-        self.custom_language_connector = self._parse_bool_setting("custom_language_connector", False)
+        self.use_action_stack_connector = self._parse_bool_setting("use_action_stack_connector", False)
+
         self.use_script_connector = self._parse_bool_setting("use_script_connector", False)
         self.find_help = self.settings.get("find_help", "manual")
 
@@ -146,18 +150,11 @@ def _apply_settings(self):
 
         self.agent_params = self.settings.get("agent_params", {})
 
-        self.domain = self.settings.get("domain", "internal")
-        if self.domain == "mobilesim":
-            self.domain = "magicbot"
-        self.agent_params["domain"] = self.domain
-        if self.domain == "internal":
-            self.agent_params["simulate-perception"] = "true"
-
 
     def _create_soar_agent(self):
         if self.source_config is not None and self.reconfig_on_launch:
             # Rerun the configuration tool and re-source the config file
-            self.print_handler("RosieAgent: Running RosieAgentConfigurator")
+            self.print_handler("RosieClient: Running RosieAgentConfigurator")
             output = subprocess.check_output(['java', 'edu.umich.rosie.tools.config.RosieAgentConfigurator', self.source_config])
             #for line in str(output).split('\\n'):
             #    self.print_handler(str(line))
diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 4739b3d626..646cb98fdb 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -3,7 +3,7 @@
 
 import sys
 
-from . import RosieAgent
+from . import RosieClient
 from rosie.events import AgentMessageSent, ScriptMessageSent, InstructorMessageSent
 
 class RosieGUI(Frame):
@@ -91,28 +91,28 @@ def clear(self):
 
 
     """ Creates a single chat box interface to send messages to Rosie and receive messages back """
-    def __init__(self, rosie_agent, master):
+    def __init__(self, rosie_client, master):
         Frame.__init__(self, master, width=800, height=600)
-        self.agent = rosie_agent
+        self.rosie_client = rosie_client
 
         self.master = master
         master.columnconfigure(0, weight=1)
         master.rowconfigure(0, weight=1)
 
         self.create_widgets()
-        self.setup_soar_agent()
+        self.setup_rosie_client()
 
         master.geometry("800x600")
         master.protocol("WM_DELETE_WINDOW", self.on_exit)
 
-    def setup_soar_agent(self):
-        """ Put any code that connects with the agent here """
-        self.agent.add_event_handler(AgentMessageSent, lambda e: self.messages_list.add(e.message))
-        self.agent.add_event_handler(InstructorMessageSent, lambda e: self.messages_list.add(e.message))
-        self.agent.add_event_handler(ScriptMessageSent, lambda e: self.script_list.select_line(e.index))
+    def setup_rosie_client(self):
+        """ Put any code that connects with the rosie_client here """
+        self.rosie_client.add_event_handler(AgentMessageSent, lambda e: self.messages_list.add(e.message))
+        self.rosie_client.add_event_handler(InstructorMessageSent, lambda e: self.messages_list.add(e.message))
+        self.rosie_client.add_event_handler(ScriptMessageSent, lambda e: self.script_list.select_line(e.index))
 
     def run(self):
-        self.agent.connect()
+        self.rosie_client.connect()
         self.master.mainloop()
 
     def create_widgets(self):
@@ -127,13 +127,13 @@ def create_widgets(self):
         self.rowconfigure(1, weight=20, minsize=400)
         self.rowconfigure(2, weight=2, minsize=50)
 
-        # Row 0: Top row of buttons for running the agent
+        # Row 0: Top row of buttons for running Rosie
         self.run_button = Button(self, text="Run", font=("Times", "18"))
-        self.run_button["command"] = lambda: self.agent.start()
+        self.run_button["command"] = lambda: self.rosie_client.start()
         self.run_button.grid(row=0, column=0, sticky=N+S+E+W)
 
         self.stop_button = Button(self, text="Stop", font=("Times", "18"))
-        self.stop_button["command"] = lambda: self.agent.stop()
+        self.stop_button["command"] = lambda: self.rosie_client.stop()
         self.stop_button.grid(row=0, column=1, sticky=N+S+E+W)
 
         # Row 1: Message History (Col 0-1) and Script Messages (Col 2-3)
@@ -141,7 +141,9 @@ def create_widgets(self):
         self.messages_list = RosieGUI.MessagesList(self)
         self.messages_list.grid(row=1, column=0, columnspan=2, sticky=N+S+E+W)
 
-        self.script_list = RosieGUI.ScriptList(self, self.agent.messages)
+        print("AGENT MESSAGES")
+        print(self.rosie_client.messages)
+        self.script_list = RosieGUI.ScriptList(self, self.rosie_client.messages)
         self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
         self.script_list.grid(row=1, column=2, columnspan=2, sticky=N+S+E+W)
 
@@ -155,7 +157,7 @@ def create_widgets(self):
         self.submit_button.grid(row=2, column=3, columnspan=1, sticky=N+S+E+W)
 
     def on_exit(self):
-        self.agent.kill()
+        self.rosie_client.kill()
         if self.master:
             self.master.destroy()
 
@@ -163,7 +165,7 @@ def send_message_to_rosie(self, message):
         if len(message) > 0:
             self.chat_entry.add_to_history(message)
             self.chat_entry.clear()
-            self.agent.send_message(message)
+            self.rosie_client.send_message(message)
 
 
 def main():
@@ -173,8 +175,8 @@ def main():
     rosie_config = sys.argv[1]
 
     root = Tk()
-    rosie_agent = RosieAgent(rosie_config)
-    rosie_gui = RosieGUI(rosie_agent, master=root)
+    rosie_client = RosieClient(rosie_config)
+    rosie_gui = RosieGUI(rosie_client, master=root)
     rosie_gui.run()
 
 if __name__ == "__main__":
diff --git a/python/rosie/__init__.py b/python/rosie/__init__.py
index 0af805d462..9e993a2e9c 100644
--- a/python/rosie/__init__.py
+++ b/python/rosie/__init__.py
@@ -1,7 +1,7 @@
-__all__ = [ "ActionStackConnector", "CommandConnector", "InternalCommandConnector", "RosieAgent", "RosieGUI" ]
+__all__ = [ "ActionStackConnector", "CommandConnector", "InternalCommandConnector", "RosieClient", "RosieGUI" ]
 
 from .ActionStackConnector import ActionStackConnector
 from .CommandConnector import CommandConnector, InternalCommandConnector
-from .RosieAgent import RosieAgent
+from .RosieClient import RosieClient
 from .RosieGUI import RosieGUI
 
diff --git a/python/rosie/language/LanguageConnector.py b/python/rosie/language/LanguageConnector.py
index 737407a040..58ee1c8060 100644
--- a/python/rosie/language/LanguageConnector.py
+++ b/python/rosie/language/LanguageConnector.py
@@ -76,8 +76,8 @@ class LanguageConnector(AgentConnector):
     """ Will handle natural language input and output to a soar agent
         For input - will add sentences onto the input link as a linked list
         For output - will take a message type and generate a natural language sentence """
-    def __init__(self, agent, print_handler=None):
-        AgentConnector.__init__(self, agent, print_handler)
+    def __init__(self, client):
+        AgentConnector.__init__(self, client)
         self.add_output_command("send-message")
         self.add_output_command("scripted-sentence")
 
@@ -124,15 +124,15 @@ def process_output_link_message(self, root_id):
         if not message_type:
             root_id.CreateStringWME("status", "error")
             root_id.CreateStringWME("error-info", "send-message has no type")
-            self.print_handler("LanguageConnector: Error - send-message has no type")
+            self.client.print_handler("LanguageConnector: Error - send-message has no type")
             return
 
         message = RosieMessageParser.parse_message(root_id, message_type)
-        self.agent.dispatch_event(AgentMessageSent(message))
+        self.client.dispatch_event(AgentMessageSent(message))
         root_id.CreateStringWME("status", "complete")
 
     def process_scripted_sentence(self, root_id):
         sentence = root_id.GetChildString("sentence")
-        self.agent.dispatch_event(InstructorMessageSent(sentence))
+        self.client.dispatch_event(InstructorMessageSent(sentence))
         root_id.CreateStringWME("handled", "true")
 
diff --git a/python/rosie/language/ScriptConnector.py b/python/rosie/language/ScriptConnector.py
index 7ba8673481..142b22a85e 100644
--- a/python/rosie/language/ScriptConnector.py
+++ b/python/rosie/language/ScriptConnector.py
@@ -5,7 +5,7 @@
 from pysoarlib import WMInterface, AgentConnector
 
 class ScriptConnector(AgentConnector):
-    """ The ScriptConnector will automatically run through the list of messages on the RosieAgent
+    """ The ScriptConnector will automatically run through the list of messages on the RosieClient
             and send each one to the agent through the input-link using the LanguageConnector """
 
     """ FindHelp: Different ways the script connector can respond if Rosie asks for help finding something
@@ -15,8 +15,8 @@ class ScriptConnector(AgentConnector):
         custom # Some other code will handle the request (set the handler via set_find_helper)
     """
 
-    def __init__(self, agent, find_help, print_handler=None):
-        AgentConnector.__init__(self, agent, print_handler)
+    def __init__(self, client, find_help):
+        AgentConnector.__init__(self, client)
         self.send_next_message = False
 
         self.find_request_handler = None
@@ -44,11 +44,11 @@ def queue_find_help(self):
 
     def connect(self):
         super().connect()
-        self.script = list(self.agent.messages)
+        self.script = list(self.client.messages)
         self.script_index = 0
 
-        self.agent.add_event_handler(AgentMessageSent, lambda e: self._agent_message_handler(e.message))
-        self.agent.add_event_handler(CommandHandled, lambda e: self.advance_script())
+        self.client.add_event_handler(AgentMessageSent, lambda e: self._agent_message_handler(e.message))
+        self.client.add_event_handler(CommandHandled, lambda e: self.advance_script())
 
     def on_init_soar(self):
         self.script_index = 0
@@ -72,8 +72,8 @@ def on_input_phase(self, input_link):
             else:
                 self.active_find_request = False
 
-            self.agent.dispatch_event(ScriptMessageSent(message, self.script_index-1))
-            self.agent.send_message(message)
+            self.client.dispatch_event(ScriptMessageSent(message, self.script_index-1))
+            self.client.send_message(message)
 
     def _agent_message_handler(self, msg):
         """ If we get a message from the agent, advance the current script """
@@ -90,5 +90,5 @@ def _handle_find_request(self, msg):
         if self.find_request_handler is not None:
             answer = self.find_request_handler(msg)
         if answer is not None:
-            self.agent.send_message(answer)
+            self.client.send_message(answer)
 
diff --git a/python/rosie/testing/TestAgent.py b/python/rosie/testing/TesterClient.py
similarity index 83%
rename from python/rosie/testing/TestAgent.py
rename to python/rosie/testing/TesterClient.py
index 33117a28a2..28201f1a09 100644
--- a/python/rosie/testing/TestAgent.py
+++ b/python/rosie/testing/TesterClient.py
@@ -1,17 +1,19 @@
 import sys
 
-from rosie import RosieAgent, ActionStackConnector
+from rosie import RosieClient
 from rosie.tools import tcn_to_str
 from rosie.events import *
 from pysoarlib import AgentConnector
 from pysoarlib.util import PrintoutIdentifier
 
-class TestAgent(RosieAgent):
+class TesterClient(RosieClient):
     def __init__(self, **kwargs):
-        RosieAgent.__init__(self, **kwargs)
+        RosieClient.__init__(self, use_action_stack_connector=True, **kwargs)
         self.outfile = None
         self.filename = self.settings["task_test_output_filename"]
 
+        self.add_agent_param("print-test-output", "true")
+
         # Listen for messages and write/print them
         self.add_event_handler(AgentMessageSent, lambda e: self.write_output("R: \"" + e.message + "\""))
         self.add_event_handler(InstructorMessageSent, lambda e: self.write_output("I: \"" + e.message + "\""))
@@ -20,9 +22,6 @@ def __init__(self, **kwargs):
             self.add_event_handler(AgentMessageSent, lambda e: self.print_handler("R: \"" + e.message + "\""))
             self.add_event_handler(InstructorMessageSent, lambda e: self.print_handler("I: \"" + e.message + "\""))
 
-        # Listen for start/end of a task and write it to the file
-        self.add_connector("action_stack", ActionStackConnector(self))
-
         self.add_event_handler(TaskStarted, lambda e: 
                 self.write_output("  " * (e.depth-1) + "> " + e.task_desc))
         self.add_event_handler(TaskCompleted, lambda e: 
@@ -49,10 +48,10 @@ def print_callback(self, message):
             self.write_output(message[7:])
 
     def print_tcn(self, task_handle):
-        query_res = agent.execute_command("smem -q {(<t> ^handle " + task_handle + ")}")
+        query_res = self.execute_command("smem -q {(<t> ^handle " + task_handle + ")}")
         if query_res.startswith("(@"):
             tcn_lti = query_res.split()[0].replace("(", "")
-            tcn_id = PrintoutIdentifier.create(agent, tcn_lti, 20)
+            tcn_id = PrintoutIdentifier.create(self, tcn_lti, 20)
             self.write_output(tcn_to_str(tcn_id))
         else:
             self.write_output("Query for task " + task_handle + " failed")
diff --git a/python/rosie/testing/__init__.py b/python/rosie/testing/__init__.py
index f362b72c78..5939f21933 100644
--- a/python/rosie/testing/__init__.py
+++ b/python/rosie/testing/__init__.py
@@ -1,3 +1,3 @@
-__all__ = [ "TestAgent" ]
+__all__ = [ "TesterClient" ]
 
-from .TestAgent import TestAgent
+from .TesterClient import TesterClient
diff --git a/python/rosie/testing/__main__.py b/python/rosie/testing/run_task_test.py
similarity index 82%
rename from python/rosie/testing/__main__.py
rename to python/rosie/testing/run_task_test.py
index 536d6ccce1..6c781b0124 100644
--- a/python/rosie/testing/__main__.py
+++ b/python/rosie/testing/run_task_test.py
@@ -1,7 +1,7 @@
 import sys
 import os
 
-from rosie.testing.TestAgent import TestAgent
+from rosie.testing.TesterClient import TesterClient
 
 # Lookup $ROSIE_HOME environment variable [REQUIRED]
 rosie_home = ""
@@ -22,7 +22,7 @@
 # Flag: -v|--verbose will print output to standard out
 print_output = ('-v' in sys.argv or '--verbose' in sys.argv)
 
-agent = TestAgent(config_filename=rosie_home + "/test-agents/task-tests/" + test_name + "/agent/rosie-client.config",
+agent = TesterClient(config_filename=rosie_home + "/test-agents/task-tests/" + test_name + "/agent/rosie-client.config",
         write_to_stdout=print_output, source_output=("summary" if print_output else "none"))
 
 agent.run_test(rosie_home + "/test-agents/task-tests/" + test_name + "/correct-output.txt")
diff --git a/python/rosie/tools/mapmaker/create_internal_world.py b/python/rosie/tools/mapmaker/create_internal_world.py
index ff7d29b295..6eec957b0d 100644
--- a/python/rosie/tools/mapmaker/create_internal_world.py
+++ b/python/rosie/tools/mapmaker/create_internal_world.py
@@ -13,9 +13,10 @@ def create_internal_world(world_info, fout):
     fout.write("\n")
     fout.write("sp {top-state*domain*internal*elaborate*internal-world*" + world_info.name + "\n")
     fout.write("   (state <s> ^superstate nil\n")
-    fout.write("              ^agent-params.domain internal\n")
-    fout.write("              ^agent-params.simulate-perception true)\n")
+    fout.write("              ^agent-params <params>)\n")
+    fout.write("   (<params> ^domain internal)\n")
     fout.write("-->\n")
+    fout.write("   (<params> ^simulate-perception true)\n")
     fout.write("   (<s> ^internal-world <w>)\n")
     fout.write("   (<w> ^starting-location " + start_loc + "\n")
     fout.write("        ^objects <objs>)\n")
diff --git a/settings.md b/settings.md
new file mode 100644
index 0000000000..152668aaa0
--- /dev/null
+++ b/settings.md
@@ -0,0 +1,114 @@
+# Rosie Settings
+
+## Rosie Config Settings
+These settings should be put in the `rosie.config` file given to the RosieAgentConfigurator tool. 
+
+`agent-dir = [str]` The name of the directory to create and copy agent code into 
+
+`agent-name = [str]` The name of the agent (used as root of file names)
+
+`domain = [str]` The domain/environment the agent is running in (e.g. internal or mobilesim)
+
+**Source Files**    
+Note: you can add special path prefixes to the files to specify where to look for them:
+
+```
+${config-dir} - Resolves to the directory containing the config file
+${agent-dir} - Resolves to the agent directory created by the config tool
+${rosie-agent} - Resolves to the rosie/agent directory
+
+# Example: 
+# Most agents will want to add the default smem config file:
+smem-config-file = ${rosie-agent}/_smem_config.txt
+```
+
+
+`source-soar-file = [file]` Will source the given soar file during agent creation
+
+`source-smem-file = [file]` Will source the given smem file during agent creation (also runs it through the lti mapping program and copies it to the agent-dir)
+
+`smem-config-file = [file]` Will analyze the given smem configuration file, which can contain template instantiations or other smem files to map and source
+
+	
+**Language/Script Settings**
+
+
+`parser = [laird|lindes]` Which parser to use
+
+`sentence-source = [scripts|chat]`    
+`> chat: ` Instructor sentences are expected on the input-link     
+`> scripts: ` Sentences come from an internal script (defined by `sentences-file`) 
+and the agent automatically runs through each one
+
+`sentences-file = [file]` A list of sentences (1 per line) to serve as a script    
+`- if sentence-source = scripts` these become the script the agent runs through    
+`- if sentence-source = chat` these are put as options into the GUI
+
+`parser-test = [bool]` Used for parser development
+
+`hypothetical = [bool]` Used for parser development to control object grounding
+
+
+## Rosie Client Settings
+These are settings that are understood by the RosieClient class 
+and read from the `rosie-client.config` file. 
+They are used to control how the RosieClient creates the agent and any other 
+settings used by the interface layer. 
+
+Normally, you would define these in the `rosie.config` file and they are passed through to the 
+auto-generated `rosie-client.config` file by the RosieAgentConfigurator tool. 
+
+**Auto generated by the RosieAgentConfigurator tool**
+
+`source-config = [file]` The file used by the RosieAgentConfigurator to generate this file
+
+`reconfig-on-launch = [bool] (PYTHON)` If true, will run the RosieAgentConfigurator tool every time the client is started
+
+`agent-name = [str]` The name used when creating the SoarAgent
+
+`agent-source = [file]` The root soar file that will source all of the productions
+
+`smem-source = [file]` The root soar file that will source all initial smem knowledge
+
+`domain = [str]` The environment/domain this is running in (e.g. internal or mobilesim)
+
+
+**Running the Agent**
+
+`spawn-debugger = [bool]` If true, will spawn the Java debugger (requires $SOAR_HOME)
+
+`start-running = [bool]` If true, the agent will start running when connect is called
+
+**Language Settings**
+
+`messages-file = filename]` A text file containing sentences to use as possible messages to Rosie (populates GUI)
+
+
+**Controlling Output**
+
+`source-output = full|summary|none` How much output is printed when sourcing files
+
+`watch-level = [int]` The Soar watch/trace level (default = 1)
+
+`write-to-stdout = [bool]` If true, all agent/soar output (e.g. rhs writes) 
+will be printed to standard out
+
+`enable-log = [bool]` If true, all agent/soar output (e.g. rhs writes) will be written to a log file
+
+`log-filename = [file]` The name of the log file to write (with `enable-log = true`)
+
+`print-action-stack = [bool] (JAVA)` If true, will print out a message every time the agent begins/ends a task.
+
+
+## Rosie Agent Settings (agent-params)
+
+These are parameters/settings that are in working memory
+and that the agent can test directly within rules to affect behavior.
+Many are used for debugging or testing. 
+
+The recommended approach is to create a local soar file with a production that sets all of these settings, 
+and then include it as `source-soar-file = ${config-dir}/local-soar-file.soar`
+
+Most should be placed onto the `([top] ^agent-params [params])` wme on the top state. 
+
+
diff --git a/test-agents/task-tests/conditionals/conditionals.config b/test-agents/task-tests/conditionals/conditionals.config
index 42fb812e24..e3bb562baa 100644
--- a/test-agents/task-tests/conditionals/conditionals.config
+++ b/test-agents/task-tests/conditionals/conditionals.config
@@ -11,7 +11,7 @@ agent-name = conditionals
 #   OPTIONAL: default is the directory this config file is in
 # The directory to create the agent directory in
 
-# agent-dir = 
+agent-dir = agent
 
 
 ####
@@ -24,40 +24,44 @@ domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/waypoint-map.soar
+source-soar-file = ${config-dir}/internal-world.soar
 
 
 ####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-parser = laird
+source-smem-file = ${config-dir}/../testing.smem
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-#internal-world-file = internal-world.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# parser = << laird lucia >>
+#   OPTIONAL: Default is laird
+# Which parser will be used to interpret new messages
+# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
 
-#waypoint-map-file = waypoint-map.soar
+parser = laird
 
 
 ####
@@ -68,10 +72,6 @@ parser = laird
 
 sentence-source = scripts
 
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-#use-script-connector = true
 
 ####
 # sentences-file = <path> (Relative to the directory this file is in)
@@ -92,53 +92,25 @@ sentences-file = script.txt
 #world-file = example.world
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
 
 
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = ../testing.smem
-
-
-#####
-# extra-rosie-files 
-# One or more full paths relative to $ROSIE_HOME/agent separated by semicolons
-# Will source these files too
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
+reconfig-on-launch = true
+
 spawn-debugger = false
 
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
-write-to-stdout = true
+verbose = false
 watch-level = 0
+write-to-stdout = true
 
 #enable-log = true
-#log-filename = conditionals.log
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
 
-reconfig-on-launch = true
 
diff --git a/test-agents/task-tests/conditionals/extra-soar-rules.soar b/test-agents/task-tests/conditionals/extra-soar-rules.soar
deleted file mode 100644
index 9ca566fbdd..0000000000
--- a/test-agents/task-tests/conditionals/extra-soar-rules.soar
+++ /dev/null
@@ -1,50 +0,0 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-        ^print-test-output true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-        
-        #   Turn this on to create a parse.txt file
-        #   from the laird parser.
-#        ^save-parsed-messages true
-        
-
-   )
-}
-
-source internal-world.soar
-source waypoint-map.soar
-
-#explain all on
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
-   (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-}
-
-
diff --git a/test-agents/task-tests/conditionals/internal-world.soar b/test-agents/task-tests/conditionals/internal-world.soar
index 82f1b6f65b..960bc1103a 100644
--- a/test-agents/task-tests/conditionals/internal-world.soar
+++ b/test-agents/task-tests/conditionals/internal-world.soar
@@ -3,9 +3,10 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*world
    (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^agent-params.simulate-perception true)
+              ^agent-params <params>)
+   (<params> ^domain internal)
 -->
+   (<params> ^simulate-perception true)
    (<s> ^internal-world <w>)
    (<w> ^starting-location wp01
         ^objects <objs>)
diff --git a/test-agents/task-tests/guide/correct-output.txt b/test-agents/task-tests/guide/correct-output.txt
index 8a821fc0d6..904b72d15a 100644
--- a/test-agents/task-tests/guide/correct-output.txt
+++ b/test-agents/task-tests/guide/correct-output.txt
@@ -1,13 +1,16 @@
 I: "Permanently remember the fridge as the storage location of a soda."
 > remember1(fridge, storage location, soda)
+### Task op_remember1 - storing edge soda1 --( storage1 location )--> fridge1
 < remember1(fridge, storage location, soda)
 R: "I'm ready for a new task"
 I: "Permanently remember the fridge as the storage location of a water."
 > remember1(fridge, storage location, water)
+### Task op_remember1 - storing edge water1 --( storage1 location )--> fridge1
 < remember1(fridge, storage location, water)
 R: "I'm ready for a new task"
 I: "Permanently remember the fridge as the storage location of a juice."
 > remember1(fridge, storage location, juice)
+### Task op_remember1 - storing edge juice1 --( storage1 location )--> fridge1
 < remember1(fridge, storage location, juice)
 R: "I'm ready for a new task"
 I: "Guide Alice."
@@ -31,13 +34,16 @@ I: "Remember the answer as the desired drink."
       > scan1(end{ visible1(answered soda) })
       < scan1(end{ visible1(answered soda) })
       > recall1(location, answered soda)
+### Task op_recall1 retrieved fridge1
       < recall1(location, answered soda)
       > find1(recalled fridge)
         > scan1(end{ visible1(recalled fridge) })
         < scan1(end{ visible1(recalled fridge) })
         > recall1(location, recalled fridge)
+### Task op_recall1 retrieved nothing!
         < recall1(location, fridge)
         > recall1(current location, when{ visible1(fridge) })
+### Task op_recall1 retrieved nothing!
         < recall1(current location, when{ visible1(fridge) })
 R: "I can't find fridge, can you help?"
 I: "The fridge is in the kitchen."
@@ -60,6 +66,7 @@ R: "Ok"
       > scan1(end{ visible1(alice) })
       < scan1(end{ visible1(alice) })
       > recall1(office, alice)
+### Task op_recall1 retrieved nothing!
       < recall1(office, alice)
       > recall1(current location, when{ visible1(alice) })
       < recall1(current location, when{ visible1(alice) })
@@ -79,6 +86,7 @@ R: "Ok"
 R: "What is the next goal or subtask of serve?"
 I: "Permanently remember the desired drink as the preferred drink of Alice."
     > remember1(blue answered soda, preferred drink, alice)
+### Task op_remember1 - storing edge person-alice1 --( preferred1 drink1 )--> soda1
     < remember1(blue answered soda, preferred drink, alice)
 R: "What is the next goal or subtask of serve?"
 I: "You are done."
@@ -161,6 +169,7 @@ I: "Guide Bob."
       > scan1(end{ visible1(bob) })
       < scan1(end{ visible1(bob) })
       > recall1(office, bob)
+### Task op_recall1 retrieved nothing!
       < recall1(office, bob)
       > recall1(current location, when{ visible1(bob) })
       < recall1(current location, when{ visible1(bob) })
@@ -188,6 +197,7 @@ I: "A water."
       < approach1(bob)
     < give1(white answered water, to1(bob))
     > remember1(white answered water, preferred drink, bob)
+### Task op_remember1 - storing edge person-bob1 --( preferred1 drink1 )--> water1
     < remember1(white answered water, preferred drink, bob)
   < serve1(bob)
   > say1(Follow me to the lab)
@@ -220,6 +230,7 @@ R: "Feel free to look around and let me know when you are done"
       > scan1(end{ visible1(bob) })
       < scan1(end{ visible1(bob) })
       > recall1(office, bob)
+### Task op_recall1 retrieved nothing!
       < recall1(office, bob)
       > recall1(current location, when{ visible1(bob) })
       < recall1(current location, when{ visible1(bob) })
diff --git a/test-agents/task-tests/guide/extra-soar-rules.soar b/test-agents/task-tests/guide/extra-soar-rules.soar
deleted file mode 100644
index c68ea4e759..0000000000
--- a/test-agents/task-tests/guide/extra-soar-rules.soar
+++ /dev/null
@@ -1,48 +0,0 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-#       ^report-find-results true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-        
-        #   Turn this on to create a parse.txt file
-        #   from the laird parser.
-#        ^save-parsed-messages true
-        
-   )
-}
-
-source internal-world.soar
-source waypoint-map.soar
-
-#explain all on
-
-sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
-   (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^world.predicates <preds>
-              ^perception-monitor.predicate-monitor <pred-mon>)
--->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
-}
-
diff --git a/test-agents/task-tests/guide/guide.config b/test-agents/task-tests/guide/guide.config
index d45582159a..664ef99f28 100644
--- a/test-agents/task-tests/guide/guide.config
+++ b/test-agents/task-tests/guide/guide.config
@@ -11,7 +11,7 @@ agent-name = guide
 #   OPTIONAL: default is the directory this config file is in
 # The directory to create the agent directory in
 
-# agent-dir = 
+agent-dir = agent
 
 
 ####
@@ -20,45 +20,48 @@ agent-name = guide
 # Which domain this agent is operating in (determines how perception/action is handled)
 # Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
 
-# Provided by the code creating the agent
 domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/waypoint-map.soar
+source-soar-file = ${config-dir}/internal-world.soar
 
 
 ####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-parser = laird
+source-smem-file = ${config-dir}/extra-smem-adds.soar
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-#internal-world-file = internal-world.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# parser = << laird lucia >>
+#   OPTIONAL: Default is laird
+# Which parser will be used to interpret new messages
+# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
 
-#waypoint-map-file = waypoint-map.soar
+parser = laird
 
 
 ####
@@ -81,52 +84,33 @@ sentences-file = script.txt
 
 
 ####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
+# world-file = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>.world
+# File containing the description of the world to be used in internal testing
+#   Serves as input into the WorldGenerator java tool
 
-smem-config-file = ../smem-config.txt
+#world-file = example.world
 
 
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
 
-#####
-# extra-rosie-files 
-# One or more full paths relative to $ROSIE_HOME/agent separated by semicolons
-# Will source these files too
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
+reconfig-on-launch = true
+
 spawn-debugger = false
 
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
-write-to-stdout = true
+verbose = false
 watch-level = 0
+write-to-stdout = true
 
 #enable-log = true
-#log-filename = guide.log
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
 
-reconfig-on-launch = true
 
diff --git a/test-agents/task-tests/guide/internal-world.soar b/test-agents/task-tests/guide/internal-world.soar
index c0f185eb58..55d69d9b4f 100644
--- a/test-agents/task-tests/guide/internal-world.soar
+++ b/test-agents/task-tests/guide/internal-world.soar
@@ -3,9 +3,10 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*world
    (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^agent-params.simulate-perception true)
+              ^agent-params <params>)
+   (<params> ^domain internal)
 -->
+   (<params> ^simulate-perception true)
    (<s> ^internal-world <w>)
    (<w> ^starting-location wp02
         ^objects <objs>)
diff --git a/test-agents/task-tests/internal-world.soar b/test-agents/task-tests/internal-world.soar
index 528eddcdd7..48e8478764 100644
--- a/test-agents/task-tests/internal-world.soar
+++ b/test-agents/task-tests/internal-world.soar
@@ -3,9 +3,11 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*world
    (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^agent-params.simulate-perception true)
+              ^agent-params <params>)
+   (<params> ^domain internal)
 -->
+   (<params> ^simulate-perception true)
+
    (<s> ^internal-world <w>)
    (<w> ^starting-location wp01
         ^objects <objs>)
diff --git a/test-agents/task-tests/kitchen/kitchen.config b/test-agents/task-tests/kitchen/kitchen.config
index d19a934780..33a57c5e35 100644
--- a/test-agents/task-tests/kitchen/kitchen.config
+++ b/test-agents/task-tests/kitchen/kitchen.config
@@ -35,18 +35,26 @@ source-soar-file = ${config-dir}/../testing-rules.soar
 source-soar-file = ${config-dir}/../waypoint-map.soar
 source-soar-file = ${config-dir}/../internal-world.soar
 
+
 ####
 # source-smem-file = <filename> [ANY NUMBER]
 # Will tell the soar agent to source the give file containing smem adds
 #    it will be put through the LTI mapping process and copied into the agent dir
-# You can use the following path prefixes with the file:
-#   ${config-dir} - resolves to the directory that contains this file
-#   ${agent-dir} - resolves to the created agent directory
-#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
+# You can use the above ${...} path prefixes with the file
 
 source-smem-file = ${config-dir}/../testing.smem
 
 
+####
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
+
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
+
+
 ####
 # parser = << laird lucia >>
 #   OPTIONAL: Default is laird
@@ -84,30 +92,26 @@ sentences-file = script.txt
 #world-file = example.world
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
-
 
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
-verbose = false
+reconfig-on-launch = true
 
 spawn-debugger = false
 
-#log-filename = ${agent-dir}/rosie-log.txt
-print-action-stack = true
-task-test-output-filename = ${config-dir}/test-output.txt
+use-action-stack-connector = true
 
+verbose = false
+watch-level = 0
 write-to-stdout = true
 
-watch-level = 0
-reconfig-on-launch = true
+#enable-log = true
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
+
+
 
diff --git a/test-agents/task-tests/maintenance/maintenance.config b/test-agents/task-tests/maintenance/maintenance.config
index ba4867f649..9d5796de3c 100644
--- a/test-agents/task-tests/maintenance/maintenance.config
+++ b/test-agents/task-tests/maintenance/maintenance.config
@@ -24,31 +24,35 @@ domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/../waypoint-map.soar
+source-soar-file = ${config-dir}/../internal-world.soar
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-internal-world-file = test_env.soar
+source-smem-file = ${config-dir}/../testing.smem
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-waypoint-map-file = test_env.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
@@ -88,46 +92,25 @@ sentences-file = script.txt
 #world-file = example.world
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = ../testing-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = ../testing.smem
 
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
+reconfig-on-launch = true
+
 spawn-debugger = false
 
-#log-filename = rosie-log.txt
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
-write-to-stdout = true
+verbose = false
 watch-level = 0
+write-to-stdout = true
 
-reconfig-on-launch = true
+#enable-log = true
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
 
 clock-step-ms = 1000
diff --git a/test-agents/task-tests/mobile/mobile.config b/test-agents/task-tests/mobile/mobile.config
index 8a3d9d597b..237a43db30 100644
--- a/test-agents/task-tests/mobile/mobile.config
+++ b/test-agents/task-tests/mobile/mobile.config
@@ -24,31 +24,35 @@ domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/../waypoint-map.soar
+source-soar-file = ${config-dir}/../internal-world.soar
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-internal-world-file = test_env.soar
+source-smem-file = ${config-dir}/../testing.smem
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-waypoint-map-file = test_env.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
@@ -88,47 +92,26 @@ sentences-file = script.txt
 #world-file = example.world
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = ../testing-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = ../testing.smem
 
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
-verbose = false
+reconfig-on-launch = true
 
 spawn-debugger = false
 
-#log-filename = rosie-log.txt
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
+verbose = false
+watch-level = 0
 write-to-stdout = true
 
-watch-level = 0
+#enable-log = true
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
+
+
 
-reconfig-on-launch = true
diff --git a/test-agents/task-tests/modifiers/extra-soar-rules.soar b/test-agents/task-tests/modifiers/extra-soar-rules.soar
index f869966e42..23a8f9a55c 100644
--- a/test-agents/task-tests/modifiers/extra-soar-rules.soar
+++ b/test-agents/task-tests/modifiers/extra-soar-rules.soar
@@ -1,34 +1,3 @@
-sp {top-state*elaborate*agent-params*custom
-   (state <s> ^superstate nil
-              ^agent-params <p>)
--->
-   (<p> ^debug-ids true
-        ^report-tasks-to-output-link true
-#       ^report-find-results true
-#       ^debug-op-ties true
-#       ^debug-wait-limit 3
-
-#       ^interrupt-operator retrospective-learning 
-#       ^interrupt-operator interpret-message 
-#       ^interrupt-end-of-sentence true
-#       ^interrupt-new-task true
-#       ^interrupt-task-search true
-        
-#       ^print-perception true
-#       ^print-new-task true
-#       ^print-new-task-shorthand true
-#       ^print-wp-search-path-costs true
-#       ^print-parsed-messages true
-#       ^print-outgoing-messages true
-#       ^print-interaction-stack true
-
-   )
-}
-
-source waypoint-map.soar
-source internal-world.soar
-
-#explain all on
 
 sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
    (state <s> ^superstate nil
@@ -36,10 +5,6 @@ sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*
               ^world.predicates <preds>
               ^perception-monitor.predicate-monitor <pred-mon>)
 -->
-   (<preds> ^predicate.handle in1)
-   (<preds> ^predicate.handle on1)
-   (<preds> ^predicate.handle holding1)
-   (<preds> ^predicate.handle heard2)
    (<preds> ^predicate.handle contains1)
 }
 
diff --git a/test-agents/task-tests/modifiers/internal-world.soar b/test-agents/task-tests/modifiers/internal-world.soar
index 7e1d90e22f..59b60f5dad 100644
--- a/test-agents/task-tests/modifiers/internal-world.soar
+++ b/test-agents/task-tests/modifiers/internal-world.soar
@@ -3,9 +3,10 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*world
    (state <s> ^superstate nil
-              ^agent-params.domain internal
-              ^agent-params.simulate-perception true)
+              ^agent-params <params>)
+   (<params> ^domain internal)
 -->
+   (<params> ^simulate-perception true)
    (<s> ^internal-world <w>)
    (<w> ^starting-location wp01
         ^objects <objs>)
diff --git a/test-agents/task-tests/modifiers/modifiers.config b/test-agents/task-tests/modifiers/modifiers.config
index 7b436513bc..0571841a9a 100644
--- a/test-agents/task-tests/modifiers/modifiers.config
+++ b/test-agents/task-tests/modifiers/modifiers.config
@@ -1,4 +1,4 @@
-###
+####
 # agent-name = <string>
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
@@ -11,7 +11,7 @@ agent-name = modifiers
 #   OPTIONAL: default is the directory this config file is in
 # The directory to create the agent directory in
 
-# agent-dir = 
+agent-dir = agent
 
 
 ####
@@ -20,45 +20,49 @@ agent-name = modifiers
 # Which domain this agent is operating in (determines how perception/action is handled)
 # Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
 
-# Provided by the code creating the agent
 domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/extra-soar-rules.soar
+source-soar-file = ${config-dir}/waypoint-map.soar
+source-soar-file = ${config-dir}/internal-world.soar
 
 
 ####
-# parser = << laird lucia >>
-#   OPTIONAL: Default is laird
-# Which parser will be used to interpret new messages
-# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-parser = laird
+source-smem-file = ${config-dir}/extra-smem-adds.soar
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-#internal-world-file = internal-world.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# parser = << laird lucia >>
+#   OPTIONAL: Default is laird
+# Which parser will be used to interpret new messages
+# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
 
-#waypoint-map-file = waypoint-map.soar
+parser = laird
 
 
 ####
@@ -81,50 +85,33 @@ sentences-file = script.txt
 
 
 ####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
+# world-file = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>.world
+# File containing the description of the world to be used in internal testing
+#   Serves as input into the WorldGenerator java tool
 
-custom-smem-file = extra-smem-adds.soar
+#world-file = example.world
 
 
 
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
+reconfig-on-launch = true
+
 spawn-debugger = false
 
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
-write-to-stdout = true
+verbose = false
 watch-level = 0
+write-to-stdout = true
 
 #enable-log = true
-#log-filename = modifiers.log
+log-filename = ${agent-dir}/rosie-log.txt
 
-reconfig-on-launch = true
+task-test-output-filename = ${config-dir}/test-output.txt
 
 clock-step-ms = 400
diff --git a/test-agents/task-tests/prim-actions/prim-actions.config b/test-agents/task-tests/prim-actions/prim-actions.config
index 844da94143..cc1f8ac86c 100644
--- a/test-agents/task-tests/prim-actions/prim-actions.config
+++ b/test-agents/task-tests/prim-actions/prim-actions.config
@@ -24,31 +24,35 @@ domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/../waypoint-map.soar
+source-soar-file = ${config-dir}/../internal-world.soar
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-internal-world-file = test_env.soar
+source-smem-file = ${config-dir}/../testing.smem
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-waypoint-map-file = test_env.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
@@ -88,48 +92,26 @@ sentences-file = script.txt
 #world-file = example.world
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = ../testing-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = ../testing.smem
 
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
-verbose = false
+reconfig-on-launch = true
 
 spawn-debugger = false
 
-#log-filename = rosie-log.txt
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
+verbose = false
+watch-level = 0
 write-to-stdout = true
 
-watch-level = 0
+#enable-log = true
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
+
 
-reconfig-on-launch = true
 
diff --git a/test-agents/task-tests/serve/serve.config b/test-agents/task-tests/serve/serve.config
index c05f6fe9ff..8b15f223f0 100644
--- a/test-agents/task-tests/serve/serve.config
+++ b/test-agents/task-tests/serve/serve.config
@@ -24,31 +24,35 @@ domain = internal
 
 
 ####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-simulate-perception = true
+source-soar-file = ${config-dir}/../testing-rules.soar
+source-soar-file = ${config-dir}/../waypoint-map.soar
+source-soar-file = ${config-dir}/../internal-world.soar
 
 
 ####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the above ${...} path prefixes with the file
 
-internal-world-file = test_env.soar
+source-smem-file = ${config-dir}/../testing.smem
 
 
 ####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
 
-waypoint-map-file = test_env.soar
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/../smem-config.txt
 
 
 ####
@@ -88,47 +92,25 @@ sentences-file = script.txt
 #world-file = example.world
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = ../smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = ../testing-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = ../testing.smem
-
 
 ####
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
-verbose = false
+reconfig-on-launch = true
 
 spawn-debugger = false
 
-#log-filename = rosie-log.txt
-print-action-stack = true
-task-test-output-filename = test-output.txt
+use-action-stack-connector = true
 
+verbose = false
+watch-level = 0
 write-to-stdout = true
 
-watch-level = 0
+#enable-log = true
+log-filename = ${agent-dir}/rosie-log.txt
+
+task-test-output-filename = ${config-dir}/test-output.txt
+
+
 
-reconfig-on-launch = true
diff --git a/test-agents/task-tests/testing-rules.soar b/test-agents/task-tests/testing-rules.soar
index 64a4c42e31..6cd64c3d7a 100644
--- a/test-agents/task-tests/testing-rules.soar
+++ b/test-agents/task-tests/testing-rules.soar
@@ -2,10 +2,7 @@ sp {top-state*elaborate*agent-params*testing
    (state <s> ^superstate nil
               ^agent-params <p>)
 -->
-   (<p> ^simulate-perception true
-        ^report-tasks-to-output-link true
-        ^debug-ids true
-        ^print-test-output true
+   (<p> ^debug-ids true
 
 #       ^interrupt-operator interpret-message
 #       ^interrupt-operator construct-task-operator
diff --git a/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java b/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
index fb66fa9321..842ebc042c 100644
--- a/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
+++ b/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
@@ -12,26 +12,28 @@ public RosieConfigException(String message){
 			super(message);
 		}
 	}
-
-	// A set of property names used in the config file
-	public static final HashSet<String> PROP_NAMES = new HashSet<String>(
-			Arrays.asList("agent-name", "agent-dir", "smem-config-file", 
-				"domain", "world-file",
-					"parser", "parser-test", "hypothetical",
-					"sentence-source", "sentences-file"));
-	
-	// agent-name = <string> [OPTIONAL] - The name of the agent (used as root of file names)
-	//   DEFAULT - The name of the config file (minus extension)
-	public String agentName;
 	
 	// agent-dir = <string>  [OPTIONAL] - The directory the agent should be created in
 	//    DEFAULT - The directory containing the config file
 	public File agentDir = null;
 
-	// smem-config-file = <filename> [OPTIONAL]
-	//     A file with info about what concepts to include from smem
-	//    (File used by SmemConfigurator)
-	public File smemConfigFile = null;
+	// agent-name = <string> [REQUIRED] - The name of the agent (used as root of file names)
+	//   DEFAULT - The name of the config file (minus extension)
+	public String agentName = null;
+	
+	// source-soar-file = <file> [ANY NUMBER]
+	//     Extra soar files that should be sourced by the agent
+	//     Can prefix with ${config_dir} or ${rosie_agent}
+	public List<File> sourceSoarFiles = new ArrayList<File>();
+
+	// source-smem-file = <file> [ANY NUMBER]
+	//     A smem file relative to the config directory that should be sourced by the agent (after being mapped)
+	public List<File> sourceSmemFiles = new ArrayList<File>();
+
+	// smem-config-file = <file> [ANY NUMBER]
+	//     An smem config file that should be included (can define templates/files to be mapped)
+	//     Can prefix with ${config_dir} or ${rosie_agent}
+	public List<File> smemConfigFiles = new ArrayList<File>();
 	
 	// domain = << magicbot tabletop internal fetch ai2thor cozmo >>  [OPTIONAL]
 	//    The environment the agent is in (determines perception/action rules)
@@ -73,15 +75,6 @@ public RosieConfigException(String message){
 	//    A file with a list of sentences
 	//    (File used by SentencesGenerator)
 	public File sentencesFile = null;
-	
-	// source-soar-file = <file> [ANY NUMBER]
-	//     Extra soar files that should be sourced by the agent
-	//     Can prefix with ${config_dir} or ${rosie_agent}
-	public List<File> sourceSoarFiles = new ArrayList<File>();
-
-	// source-smem-file = <file> [ANY NUMBER]
-	//     A smem file relative to the config directory that should be sourced by the agent (after being mapped)
-	public List<File> sourceSmemFiles = new ArrayList<File>();
 
 
 	// Any other properties in the file will be passed on to the created rosie-client.config file
@@ -159,15 +152,19 @@ else if(settingName.equals("source-smem-file")){
 			}
 			this.sourceSmemFiles.add(smemFile);
 		}
+		else if(settingName.equals("smem-config-file")){
+			File smemConfigFile = new File(settingValue);
+			if(!smemConfigFile.exists()){
+				smemConfigFile = new File(this.sourceDir, settingValue);
+			}
+			this.smemConfigFiles.add(smemConfigFile);
+		}
 		else if(settingName.equals("domain")){
 			this.domain = settingValue.toLowerCase();
 		}
 		else if(settingName.equals("world-file")){
 			this.worldFile = new File(this.sourceDir + "/" + settingValue);
 		}
-		else if(settingName.equals("smem-config-file")){
-			this.smemConfigFile = new File(this.sourceDir + "/" + settingValue);
-		}
 		else if(settingName.equals("parser")){
 			this.parser = settingValue.toLowerCase();
 		}
@@ -206,7 +203,6 @@ private void validate() throws RosieConfigException {
 		validateOptions("sentence-source", this.sentenceSource, VALID_SENTENCE_SRCS);
 
 		validateFile("world-file", this.worldFile);
-		validateFile("smem-config-file", this.smemConfigFile);
 		validateFile("sentences-file", this.sentencesFile);
 
 		for(File f : this.sourceSoarFiles){
@@ -215,6 +211,9 @@ private void validate() throws RosieConfigException {
 		for(File f : this.sourceSmemFiles){
 			validateFile("source-smem-file", f);
 		}
+		for(File f : this.smemConfigFiles){
+			validateFile("smem-config-file", f);
+		}
 
 	}
 
@@ -242,7 +241,6 @@ public String toString(){
 		sb.append("sentence-source = " + this.sentenceSource + "\n");
 		sb.append("sentences-file = " + (this.sentencesFile == null ? "None" : this.sentencesFile.getName()) + "\n");
 		sb.append("world-file = " + (this.worldFile == null ? "None" : this.worldFile.getName()) + "\n");
-		sb.append("smem-config-file = " + (this.smemConfigFile == null ? "None" : this.smemConfigFile.getName()) + "\n");
 
 		sb.append("\nSourcing the following soar files:\n");
 		for(File f : this.sourceSoarFiles){
@@ -254,6 +252,11 @@ public String toString(){
 			sb.append("   > " + f.getAbsolutePath() + "\n");
 		}
 
+		sb.append("\nIncluding the following smem config files:\n");
+		for(File f : this.smemConfigFiles){
+			sb.append("   > " + f.getAbsolutePath() + "\n");
+		}
+
 		sb.append("\nOther client settings added to rosie-client.config\n");	
 		for(Map.Entry<String, String> e : this.clientSettings.entrySet()){
 			sb.append("   > " + e.getKey() + " = " + e.getValue() + "\n");
diff --git a/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java b/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java
index fd3dfb1e42..55568627d4 100644
--- a/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java
+++ b/tools/java/src/edu/umich/rosie/tools/config/SmemConfigurator.java
@@ -110,18 +110,14 @@ public static File configureSmem(RosieConfig config) throws IOException {
 
 		File templateDir = new File(config.rosieAgentDir, "/init-smem/templates");
 		Stack<File> dirStack = new Stack<File>();
-		dirStack.push(config.rosieAgentDir);
 		List<File> rosieFiles = new ArrayList<File>();
 		Map<String, File> createdFiles = new HashMap<String, File>();
 
-		// Parse the default smem config file
-		File defaultSmemConfig = new File(config.rosieAgentDir, "_smem_config.txt");
-		parseSmemConfigurationFile(defaultSmemConfig, smemDir, templateDir, dirStack, createdFiles, rosieFiles);
-
-		// Parse the custom smem config file
-		if(config.smemConfigFile != null){
-			assert(dirStack.size() == 1);
-			parseSmemConfigurationFile(config.smemConfigFile, smemDir, templateDir, dirStack, createdFiles, rosieFiles);
+		// Parse any the custom smem config file
+		for(File smemConfigFile : config.smemConfigFiles){
+			dirStack.push(new File(smemConfigFile.getParent()));
+			parseSmemConfigurationFile(smemConfigFile, smemDir, templateDir, dirStack, createdFiles, rosieFiles);
+			dirStack.pop();
 		}
 
 		// Add any other smem files
diff --git a/tools/scripts/run_task_learning_tests.sh b/tools/scripts/run_task_learning_tests.sh
index db2f7c6fdb..c3db00f4d3 100755
--- a/tools/scripts/run_task_learning_tests.sh
+++ b/tools/scripts/run_task_learning_tests.sh
@@ -79,7 +79,7 @@ for test in	${TESTS_TO_RUN[*]}; do
 
 	if [ "$TEST_LANG" == "python" ]; then
 		echo "Running $test using python"
-		python3 -m rosie.testing $test $VERBOSE
+		python3 -m rosie.testing.run_task_test $test $VERBOSE
 	else
 		echo "Running $test using java"
 		java edu.umich.rosie.RosieCLI agent/rosie-client.config

From 492690f93dbce386229e1a2eaf0824ed1ddb25e8 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Mon, 3 May 2021 14:06:22 -0400
Subject: [PATCH 07/34] Continue to tweak how to run rosie and tests in python

---
 examples/template/Makefile                    |  14 +--
 examples/template/extra-soar-rules.soar       |  26 ++++
 .../template/{agent.config => rosie.config}   |  19 +--
 examples/template/run_agent.py                |  42 -------
 examples/template/test.config                 | 116 +++++++-----------
 python/rosie/RosieClient.py                   |  25 ++--
 python/rosie/RosieGUI.py                      |   2 +-
 python/rosie/testing/TesterClient.py          |   8 +-
 python/rosie/testing/run_rosie_test.py        |  28 +++++
 python/rosie/testing/run_task_test.py         |  29 -----
 settings.md                                   |   2 +-
 tools/scripts/run_task_learning_tests.sh      |   2 +-
 12 files changed, 131 insertions(+), 182 deletions(-)
 rename examples/template/{agent.config => rosie.config} (93%)
 delete mode 100644 examples/template/run_agent.py
 create mode 100644 python/rosie/testing/run_rosie_test.py
 delete mode 100644 python/rosie/testing/run_task_test.py

diff --git a/examples/template/Makefile b/examples/template/Makefile
index a9a1d73186..51d00b9753 100644
--- a/examples/template/Makefile
+++ b/examples/template/Makefile
@@ -15,19 +15,19 @@ run_mobile_sim: ${AGENT_NAME}.world
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
 	mkdir -p output
-	#java soargroup.rosie.RosieGUI ${ROSIE_CONFIG}
-	python3 run_agent.py > output/rosie_output.txt &
+	python3 -m rosie.RosieGUI ${ROSIE_CONFIG} > output/rosie_output.txt &
 
 run_test: waypoint-map.soar internal-world.soar ${TEST_CONFIG} 
 	mkdir -p output
-	python3 run_agent.py --test
-	echo "########### DIFF ##########"
+	python3 -m rosie.testing.run_rosie_test ${TEST_CONFIG} output/test-output.txt
+	@echo "#################### DIFF ####################"
 	diff output/test-output.txt correct-output.txt
 
 
 # agent/rosie.template.config: Configures the rosie soar agent that will be sourced to run
-${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
+${ROSIE_CONFIG}: rosie.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator rosie.config
+
 
 # test-agent/rosie.template.config: Configures the rosie soar agent that will be sourced for the test
 ${TEST_CONFIG}: test.config smem-config.txt extra-smem-adds.soar
@@ -62,5 +62,3 @@ clean:
 	rm -f waypoint-map.soar
 	rm -f internal-world.soar
 
-
-
diff --git a/examples/template/extra-soar-rules.soar b/examples/template/extra-soar-rules.soar
index 73ea7724be..0eb34092ae 100644
--- a/examples/template/extra-soar-rules.soar
+++ b/examples/template/extra-soar-rules.soar
@@ -1,3 +1,29 @@
+sp {top-state*elaborate*agent-params*custom
+   (state <s> ^superstate nil
+              ^agent-params <p>)
+-->
+   (<p> ^debug-ids true
+        ^report-find-results true
+#       ^debug-op-ties true
+#       ^debug-wait-limit 3
+
+#       ^interrupt-operator retrospective-learning 
+#       ^interrupt-operator interpret-message 
+#       ^interrupt-end-of-sentence true
+#       ^interrupt-new-task true
+#       ^interrupt-task-search true
+        
+#       ^print-perception true
+#       ^print-new-task true
+#       ^print-new-task-shorthand true
+#       ^print-wp-search-path-costs true
+#       ^print-parsed-messages true
+#       ^print-outgoing-messages true
+#       ^print-interaction-stack true
+
+   )
+}
+
 #### Increase the search depth over the default
 #sp {search-for-next-subtask*elaborate*search-phase-info
 #   (state <s> ^name search-for-next-subtask)
diff --git a/examples/template/agent.config b/examples/template/rosie.config
similarity index 93%
rename from examples/template/agent.config
rename to examples/template/rosie.config
index fb045cb7c5..1d69dc0477 100644
--- a/examples/template/agent.config
+++ b/examples/template/rosie.config
@@ -6,6 +6,7 @@
 #
 agent-dir = agent
 
+
 ###
 # agent-name = <string>
 #   OPTIONAL: default is the name of the config file (minus extension)
@@ -22,7 +23,6 @@ agent-name = template
 #   ${agent-dir} - resolves to the created agent directory
 #   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-source-soar-file = ${config-dir}/agent-settings.soar
 source-soar-file = ${config-dir}/extra-soar-rules.soar
 source-soar-file = ${config-dir}/internal-world.soar
 source-soar-file = ${config-dir}/waypoint-map.soar
@@ -38,6 +38,15 @@ source-soar-file = ${config-dir}/waypoint-map.soar
 
 source-smem-file = ${config-dir}/extra-smem-adds.soar
 
+####
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
+
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/smem-config.txt
+
 
 ####
 # domain = << magicbot tabletop internal fetch >>
@@ -76,14 +85,6 @@ sentence-source = chat
 sentences-file = script.txt
 
 
-####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = smem-config.txt
-
 
 ####
 # CLIENT SETTINGS
diff --git a/examples/template/run_agent.py b/examples/template/run_agent.py
deleted file mode 100644
index 4009fd2d0f..0000000000
--- a/examples/template/run_agent.py
+++ /dev/null
@@ -1,42 +0,0 @@
-from tkinter import *
-import tkinter.font
-
-import sys
-import os
-
-from pysoarlib import AgentConnector
-from rosie import RosieGUI
-from rosie.testing import TestAgent
-from mobilesim.rosie import MobileSimAgent
-
-def main():
-    # Lookup $ROSIE_HOME
-    if "ROSIE_HOME" in os.environ:
-        rosie_home = os.environ["ROSIE_HOME"]
-    else:
-        print("ERROR: Requires ROSIE_HOME environment variable set")
-        return
-
-    AGENT_NAME = "template"
-    agent_dir = rosie_home + "/examples/" + AGENT_NAME 
-
-    if "--test" in sys.argv:
-        rosie_config = agent_dir + "/test-agent/rosie-client.config"
-        run_test(rosie_config)
-    else:
-        rosie_config = agent_dir + "/agent/rosie-client.config"
-        launch_gui(rosie_config)
-
-def launch_gui(rosie_config):
-    root = Tk()
-    rosie_agent = MobileSimAgent(rosie_config)
-    rosie_gui = RosieGUI(rosie_agent, master=root)
-    rosie_gui.run()
-
-def run_test(rosie_config):
-    rosie_agent = TestAgent(config_filename=rosie_config, write_to_stdout=True, source_output="summary",
-            task_test_output_filename='output/test-output.txt', watch_level=0)
-    rosie_agent.run_test('correct-output.txt')
-
-
-main()
diff --git a/examples/template/test.config b/examples/template/test.config
index d23f84d09d..cd1f2ed0cf 100644
--- a/examples/template/test.config
+++ b/examples/template/test.config
@@ -1,3 +1,12 @@
+####
+# agent-dir = <path> (Relative to the directory this file is in)
+#   OPTIONAL: default is the directory this config file is in
+# The directory to create the agent directory in
+# !NOTE: This setting should be at the top of the file
+#
+agent-dir = test-agent
+
+
 ###
 # agent-name = <string>
 #   OPTIONAL: default is the name of the config file (minus extension)
@@ -7,11 +16,36 @@ agent-name = template
 
 
 ####
-# agent-dir = <path> (Relative to the directory this file is in)
-#   OPTIONAL: default is the directory this config file is in
-# The directory to create the agent directory in
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
 
-agent-dir = test-agent
+source-soar-file = ${config-dir}/extra-soar-rules.soar
+source-soar-file = ${config-dir}/internal-world.soar
+source-soar-file = ${config-dir}/waypoint-map.soar
+
+####
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the following path prefixes with the file:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
+
+source-smem-file = ${config-dir}/extra-smem-adds.soar
+
+####
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
+
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/smem-config.txt
 
 
 ####
@@ -23,15 +57,6 @@ agent-dir = test-agent
 domain = internal
 
 
-####
-# simulate-perception = << true false >>
-#   OPTIONAL: default is false
-# Only relevant when the domain is internal
-# If true, the agent will do additional processing to better simulate perception
-
-simulate-perception = true
-
-
 ####
 # parser = << laird lucia >>
 #   OPTIONAL: Default is laird
@@ -41,25 +66,6 @@ simulate-perception = true
 parser = laird
 
 
-####
-# internal-world-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/internal-worlds/<filename>
-# Used to create a simulated copy of the world on the top-state
-# Only relevant when the domain is internal
-
-#internal-world-file = internal-world.soar
-
-
-####
-# waypoint-map-file = <filename>
-#   OPTIONAL: default is none
-# Will source the file in agent/manage-world-state/world/maps/<filename>
-# Defines a waypoint map used by the agent for navigation
-
-#waypoint-map-file = waypoint-map.soar
-
-
 ####
 # sentence-source = << chat scripts >>
 #   OPTIONAL: Default is chat
@@ -78,53 +84,23 @@ sentence-source = chat
 
 sentences-file = script.txt
 
-# use-script-connector will automatically send messages in the sentences-file to Rosie, 
-#	but can also do external commands such as modifying the simulator
-# This must be used with sentence-source = chat
-use-script-connector = true
 
 
 ####
-# smem-config-file = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.smem
-# File containing configuration information for initializing semantic memory
-#   Serves as input into the SmemConfigurator java tool
-
-smem-config-file = smem-config.txt
-
-
-####
-# custom-soar-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>.soar
-# A soar file that will be sourced when the agent loads
-#   (can contain soar code specialized to this particular agent)
-
-custom-soar-file = extra-soar-rules.soar
-
-
-####
-# custom-smem-file  = <path> (Relative to the directory this file is in)
-#   OPTIONAL: Defaults to ./<agent-name>_smem.soar
-# A soar file containing smem add commands that will be sourced when the agent loads
-#   (can contain smem information specialized to this particular agent)
-
-custom-smem-file = extra-smem-adds.soar
-
-
-
-#extra-rosie-files = file1.soar;file2.soar;file3/file4/file4.soar
-
-####
-# Other Settings
-# Any additional settings here will be put into the autogenerated rosie.config file
+# CLIENT SETTINGS
+# Any additional settings here will be put into the autogenerated rosie-client.config file
 
 spawn-debugger = false
 
+# use-script-connector - Will automatically run through the sentences as a script
+use-script-connector = true
+
 enable-log = true
-log-filename = output/agent-output.log
+log-filename = output/test-output.log
 
-watch-level = 1
+watch-level = 0
 
 reconfig-on-launch = true
 
 find-help = script
+
diff --git a/python/rosie/RosieClient.py b/python/rosie/RosieClient.py
index cd5568b15a..a3007f93ee 100644
--- a/python/rosie/RosieClient.py
+++ b/python/rosie/RosieClient.py
@@ -31,9 +31,6 @@ class RosieClient(SoarClient):
         messages_file = [filename]
             A text file containing sentences to use as a script for Rosie (one sentence per line)
 
-        use_action_stack_connector = true|false 
-            If true, adds an ActionStackConnector to print out task events
-
         use_script_connector = true|false (default=false)
             If true, adds a ScriptConnector which will automatically send messages to the agent
 
@@ -56,24 +53,20 @@ class RosieClient(SoarClient):
     def __init__(self, print_handler=None, config_filename=None, sim_clock=True, **kwargs):
         SoarClient.__init__(self, print_handler, config_filename, use_time_connector=True, sim_clock=sim_clock, **kwargs)
 
-        # Create the default language connector
         self.add_connector("language", LanguageConnector(self))
-
-        # If use_action_stack_connector = True, adds an ActionStackConnector
-        if self.use_action_stack_connector:
-            self.add_connector("action_stack", ActionStackConnector(self))
+        self.add_connector("action_stack", ActionStackConnector(self))
 
         # If use_script_connector = True, add a ScriptConnector
         #   This will automatically run through the messages and send the to the agent
         if self.use_script_connector:
             self.add_connector("script", ScriptConnector(self, self.find_help))
 
-        ## Create the default command connector
-        #if self.use_command_connector:
-        #    if self.domain == "internal":
-        #        self.add_connector("commands", InternalCommandConnector(self))
-        #    else:
-        #        self.add_connector("commands", CommandConnector(self))
+        # Create the default command connector
+        if self.use_command_connector:
+            if self.domain == "internal":
+                self.add_connector("commands", InternalCommandConnector(self))
+            else:
+                self.add_connector("commands", CommandConnector(self))
 
         # Map from an Event Class to callback methods that will handle the event
         self.event_handlers = { }
@@ -135,14 +128,14 @@ def _read_messages(self):
     def _apply_settings(self):
         SoarClient._apply_settings(self)
 
+        self.domain = self.settings.get("domain", "internal")
+
         # Rosie-specific settings
         self.source_config = self.settings.get("source_config", None)
         self.reconfig_on_launch = self._parse_bool_setting("reconfig_on_launch", False)
 
         self.messages_file = self.settings.get("messages_file", None)
 
-        self.use_action_stack_connector = self._parse_bool_setting("use_action_stack_connector", False)
-
         self.use_script_connector = self._parse_bool_setting("use_script_connector", False)
         self.find_help = self.settings.get("find_help", "manual")
 
diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 646cb98fdb..54d615d656 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -175,7 +175,7 @@ def main():
     rosie_config = sys.argv[1]
 
     root = Tk()
-    rosie_client = RosieClient(rosie_config)
+    rosie_client = RosieClient(config_filename=rosie_config)
     rosie_gui = RosieGUI(rosie_client, master=root)
     rosie_gui.run()
 
diff --git a/python/rosie/testing/TesterClient.py b/python/rosie/testing/TesterClient.py
index 28201f1a09..8a1fe81c11 100644
--- a/python/rosie/testing/TesterClient.py
+++ b/python/rosie/testing/TesterClient.py
@@ -8,10 +8,8 @@
 
 class TesterClient(RosieClient):
     def __init__(self, **kwargs):
-        RosieClient.__init__(self, use_action_stack_connector=True, **kwargs)
+        RosieClient.__init__(self, **kwargs)
         self.outfile = None
-        self.filename = self.settings["task_test_output_filename"]
-
         self.add_agent_param("print-test-output", "true")
 
         # Listen for messages and write/print them
@@ -34,9 +32,9 @@ def write_output(self, message):
         #if self.outfile is not None:
         self.outfile.write(message + "\n")
 
-    def run_test(self, correct_filename):
+    def run_test(self, output_filename):
         self.connect()
-        self.outfile = open(self.filename, 'w')
+        self.outfile = open(output_filename, 'w')
         self.execute_command("run")
         self.outfile.close()
         self.outfile = None
diff --git a/python/rosie/testing/run_rosie_test.py b/python/rosie/testing/run_rosie_test.py
new file mode 100644
index 0000000000..d114e715dc
--- /dev/null
+++ b/python/rosie/testing/run_rosie_test.py
@@ -0,0 +1,28 @@
+import sys
+import os
+
+from rosie.testing.TesterClient import TesterClient
+
+if len(sys.argv) <= 2 or '-h' in sys.argv or '--help' in sys.argv:
+    print("python -m rosie.testing.run_rosie_test [config-file] [output-file] [FLAGS*]")
+    print("  -h | --help     for help information")
+    print("  -v | --verbose  for additional output during test")
+    sys.exit(0)
+
+# Argument 1 [REQ]: A rosie-client.config file
+client_config = sys.argv[1]
+
+# Argument 2 [REQ]: The output file to create
+output_file = sys.argv[2]
+
+# Optional Flag: -v|--verbose will print output to standard out
+print_output = ('-v' in sys.argv or '--verbose' in sys.argv)
+
+agent = TesterClient(
+            config_filename = client_config, 
+            write_to_stdout = print_output, 
+            source_output   = ("summary" if print_output else "none")
+        )
+
+agent.run_test(output_file)
+
diff --git a/python/rosie/testing/run_task_test.py b/python/rosie/testing/run_task_test.py
deleted file mode 100644
index 6c781b0124..0000000000
--- a/python/rosie/testing/run_task_test.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import sys
-import os
-
-from rosie.testing.TesterClient import TesterClient
-
-# Lookup $ROSIE_HOME environment variable [REQUIRED]
-rosie_home = ""
-if "ROSIE_HOME" in os.environ:
-    rosie_home = os.environ["ROSIE_HOME"]
-else:
-    print("ERROR: Requires ROSIE_HOME environment variable set")
-    sys.exit(0)
-
-# Argument 1: The test name (from test-agents/task-tests)
-if len(sys.argv) <= 1:
-    print("python -m rosie.testing [test_name]")
-    print("  test_name is a test under test-agents/task-tests")
-    sys.exit(0)
-
-test_name = sys.argv[1]
-
-# Flag: -v|--verbose will print output to standard out
-print_output = ('-v' in sys.argv or '--verbose' in sys.argv)
-
-agent = TesterClient(config_filename=rosie_home + "/test-agents/task-tests/" + test_name + "/agent/rosie-client.config",
-        write_to_stdout=print_output, source_output=("summary" if print_output else "none"))
-
-agent.run_test(rosie_home + "/test-agents/task-tests/" + test_name + "/correct-output.txt")
-
diff --git a/settings.md b/settings.md
index 152668aaa0..9b1864ae9d 100644
--- a/settings.md
+++ b/settings.md
@@ -79,6 +79,7 @@ auto-generated `rosie-client.config` file by the RosieAgentConfigurator tool.
 
 `start-running = [bool]` If true, the agent will start running when connect is called
 
+
 **Language Settings**
 
 `messages-file = filename]` A text file containing sentences to use as possible messages to Rosie (populates GUI)
@@ -97,7 +98,6 @@ will be printed to standard out
 
 `log-filename = [file]` The name of the log file to write (with `enable-log = true`)
 
-`print-action-stack = [bool] (JAVA)` If true, will print out a message every time the agent begins/ends a task.
 
 
 ## Rosie Agent Settings (agent-params)
diff --git a/tools/scripts/run_task_learning_tests.sh b/tools/scripts/run_task_learning_tests.sh
index c3db00f4d3..c0b9a9d0ac 100755
--- a/tools/scripts/run_task_learning_tests.sh
+++ b/tools/scripts/run_task_learning_tests.sh
@@ -79,7 +79,7 @@ for test in	${TESTS_TO_RUN[*]}; do
 
 	if [ "$TEST_LANG" == "python" ]; then
 		echo "Running $test using python"
-		python3 -m rosie.testing.run_task_test $test $VERBOSE
+		python3 -m rosie.testing.run_rosie_test agent/rosie-client.config test-output.txt $VERBOSE
 	else
 		echo "Running $test using java"
 		java edu.umich.rosie.RosieCLI agent/rosie-client.config

From 3329bb6c6be773dddcc3e0c82af6e830862c34c2 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Wed, 5 May 2021 09:40:05 -0400
Subject: [PATCH 08/34] More changes to example template agent

---
 examples/template/Makefile           | 34 ++++++++++++++++++----------
 examples/template/correct-output.txt |  2 --
 examples/template/rosie.config       |  6 ++---
 examples/template/script.txt         |  2 --
 examples/template/test.config        | 17 ++++++--------
 examples/template/world.info         |  4 ++--
 6 files changed, 33 insertions(+), 32 deletions(-)

diff --git a/examples/template/Makefile b/examples/template/Makefile
index 51d00b9753..085740b4d6 100644
--- a/examples/template/Makefile
+++ b/examples/template/Makefile
@@ -3,26 +3,36 @@ AGENT_NAME=template
 ROSIE_CONFIG=agent/rosie-client.config
 TEST_CONFIG=test-agent/rosie-client.config
 
-all: world ${ROSIE_CONFIG}
 
+#### Running Various Build Scripts
+
+all: world agent test
+
+agent: ${ROSIE_CONFIG}
+
+test: ${TEST_CONFIG}
+
+world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
+
+
+
+#### Running Different Versions
 
-# Launches both the simulator and the test chat panel
 run_example: run_mobile_sim run_rosie
 
 run_mobile_sim: ${AGENT_NAME}.world
-	mkdir -p output
-	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
+	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world &
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.RosieGUI ${ROSIE_CONFIG} > output/rosie_output.txt &
+	python3 -m mobilesim.rosie.MobileRosieGUI ${ROSIE_CONFIG} &
 
 run_test: waypoint-map.soar internal-world.soar ${TEST_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.testing.run_rosie_test ${TEST_CONFIG} output/test-output.txt
+	python3 -m rosie.testing.run_rosie_test ${TEST_CONFIG} test-output.txt
 	@echo "#################### DIFF ####################"
-	diff output/test-output.txt correct-output.txt
+	diff test-output.txt correct-output.txt
+
 
+#### Configuring Rosie Agents
 
 # agent/rosie.template.config: Configures the rosie soar agent that will be sourced to run
 ${ROSIE_CONFIG}: rosie.config smem-config.txt extra-smem-adds.soar
@@ -34,9 +44,8 @@ ${TEST_CONFIG}: test.config smem-config.txt extra-smem-adds.soar
 	java edu.umich.rosie.tools.config.RosieAgentConfigurator test.config
 
 
-#### Generating World/Map Files
 
-world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
+#### Generating World/Map Files
 
 # ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
 ${AGENT_NAME}.world: world.info
@@ -56,8 +65,9 @@ waypoint-map.soar: world.info
 clean:
 	rm -rf agent
 	rm -rf test-agent
-	rm -rf output
 	rm -rf __pycache__
+	rm -rf *.log
+	rm -f test-output.txt
 	rm -f ${AGENT_NAME}.world
 	rm -f waypoint-map.soar
 	rm -f internal-world.soar
diff --git a/examples/template/correct-output.txt b/examples/template/correct-output.txt
index 9214499026..808b27abf9 100644
--- a/examples/template/correct-output.txt
+++ b/examples/template/correct-output.txt
@@ -1,4 +1,3 @@
-R: "I'm ready for a new task"
 I: "Move the mug onto the table."
 > move1(green mug, on1(table))
 R: "What is the next goal or subtask of move?"
@@ -25,4 +24,3 @@ I: "The only goal is that the mug is in the pantry."
   < put-down1(green mug, in1(pantry))
 < store1(green mug)
 R: "I'm ready for a new task"
-I: "!CMD stop"
diff --git a/examples/template/rosie.config b/examples/template/rosie.config
index 1d69dc0477..cb5d89fe0f 100644
--- a/examples/template/rosie.config
+++ b/examples/template/rosie.config
@@ -91,13 +91,11 @@ sentences-file = script.txt
 # Any additional settings here will be put into the autogenerated rosie-client.config file
 
 spawn-debugger = false
+reconfig-on-launch = true
 
 enable-log = true
-log-filename = output/agent-output.log
+log-filename = agent-output.log
 
 watch-level = 1
 
-reconfig-on-launch = true
-
-find-help = script
 
diff --git a/examples/template/script.txt b/examples/template/script.txt
index 5cc55d652f..80a3abecb0 100644
--- a/examples/template/script.txt
+++ b/examples/template/script.txt
@@ -4,5 +4,3 @@ The only goal is that the mug is on the table.
 Store the mug.
 The only goal is that the mug is in the pantry.
 
-### END
-!CMD stop
diff --git a/examples/template/test.config b/examples/template/test.config
index cd1f2ed0cf..648cff447b 100644
--- a/examples/template/test.config
+++ b/examples/template/test.config
@@ -72,7 +72,7 @@ parser = laird
 # Where new sentences come from (either chat interface or internal automated scripts)
 # Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
 
-sentence-source = chat
+sentence-source = scripts
 
 
 ####
@@ -90,17 +90,14 @@ sentences-file = script.txt
 # CLIENT SETTINGS
 # Any additional settings here will be put into the autogenerated rosie-client.config file
 
-spawn-debugger = false
-
-# use-script-connector - Will automatically run through the sentences as a script
-use-script-connector = true
-
-enable-log = true
-log-filename = output/test-output.log
+reconfig-on-launch = true
 
+spawn-debugger = false
+source-output = summary
+write-to-stdout = true
 watch-level = 0
 
-reconfig-on-launch = true
+#enable-log = true
+log-filename = test-agent-log.txt
 
-find-help = script
 
diff --git a/examples/template/world.info b/examples/template/world.info
index f315f2ba7b..6f76336504 100644
--- a/examples/template/world.info
+++ b/examples/template/world.info
@@ -34,9 +34,9 @@ SimObject soda1      0.25  0.50  0.50     0   0.20  0.20  0.40    0   0 255  3 c
 SimObject juice1     0.50  0.50  0.50     0   0.20  0.20  0.40  255 127   0  3 cylinder grabbable color=orange1
 SimObject water1     0.75  0.50  0.50     0   0.20  0.20  0.40  200 200 255  3 cylinder grabbable color=white1
 
-Person    person      4.00  2.00  0.90    90                     225 225 225  1 name=mary1
+Person    person     1.00  3.00  0.90     0                     225 225 225  1 name=mary1
 
-Mug                  5.50  1.00  1.02     0   0.20  0.20  0.20    0 255   0  2 grabbable color=green1 
+Mug                  3.50  0.70  1.02     0   0.20  0.20  0.20    0 255   0  2 grabbable color=green1 
 
 
 # Room 2: Reception

From 3772452a9299a992fea46e65b2afd6e4d6756c99 Mon Sep 17 00:00:00 2001
From: Aaron Mininger <mininger@umich.edu>
Date: Wed, 5 May 2021 09:47:21 -0400
Subject: [PATCH 09/34] small change to settings.md file

---
 settings.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/settings.md b/settings.md
index 9b1864ae9d..0e7a45c642 100644
--- a/settings.md
+++ b/settings.md
@@ -62,7 +62,6 @@ auto-generated `rosie-client.config` file by the RosieAgentConfigurator tool.
 
 `source-config = [file]` The file used by the RosieAgentConfigurator to generate this file
 
-`reconfig-on-launch = [bool] (PYTHON)` If true, will run the RosieAgentConfigurator tool every time the client is started
 
 `agent-name = [str]` The name used when creating the SoarAgent
 
@@ -79,10 +78,11 @@ auto-generated `rosie-client.config` file by the RosieAgentConfigurator tool.
 
 `start-running = [bool]` If true, the agent will start running when connect is called
 
+`reconfig-on-launch = [bool] (PYTHON)` If true, will run the RosieAgentConfigurator tool every time the client is started
 
 **Language Settings**
 
-`messages-file = filename]` A text file containing sentences to use as possible messages to Rosie (populates GUI)
+`messages-file = [filename]` A text file containing sentences to use as possible messages to Rosie (populates GUI)
 
 
 **Controlling Output**

From 7d2b22303d3f58e3deec366161c5b0dfeda187e9 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Tue, 19 Jul 2022 12:07:53 -0400
Subject: [PATCH 10/34] Updated java function to trim string

---
 tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java b/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
index 842ebc042c..2f4b7a7d44 100644
--- a/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
+++ b/tools/java/src/edu/umich/rosie/tools/config/RosieConfig.java
@@ -108,7 +108,7 @@ public RosieConfig(File configFile, String rosieHome) throws RosieConfigExceptio
 			String line;
 			int lineNum = 0;
 			while((line = reader.readLine()) != null){
-				line = line.strip();
+				line = line.trim();
 				if(line.length() > 0 && line.charAt(0) != '#'){
 					String[] args = line.split(" ");
 					if(args.length < 3 || !args[1].equals("=")){

From 86390ca4ef21e12e9f6f651590e8f54e0c63a5f4 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 15 Sep 2022 12:07:09 -0400
Subject: [PATCH 11/34] Combining V and NP text boxes to create new command

---
 python/rosie/RosieGUI.py | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 54d615d656..1ac05d4592 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -99,6 +99,8 @@ def __init__(self, rosie_client, master):
         master.columnconfigure(0, weight=1)
         master.rowconfigure(0, weight=1)
 
+        self.combined_message = ""
+
         self.create_widgets()
         self.setup_rosie_client()
 
@@ -115,6 +117,13 @@ def run(self):
         self.rosie_client.connect()
         self.master.mainloop()
 
+    def send_combined_message(self):
+        self.combined_message = self.chat_entry.get().strip() + " " + self.chat_entry_1.get().strip() + "."
+        self.send_message_to_rosie(self.combined_message)
+        self.chat_entry.clear()
+        self.chat_entry_1.clear()
+
+
     def create_widgets(self):
         self.grid(row=0, column=0, sticky=N+S+E+W)
 
@@ -149,11 +158,17 @@ def create_widgets(self):
 
         # Row 2: Message Entry (Col 0-2) and Send Button (Col 3)
 
+        #Todo - Check if you can make a list of chat_entries instead of this to make this cleaner
         self.chat_entry = RosieGUI.ChatEntry(self)
-        self.chat_entry.grid(row=2, column=0, columnspan=3, sticky=N+S+E+W)
+        self.chat_entry.grid(row=2, column=0, columnspan=1, sticky=N+S+E+W)
+
+        self.chat_entry_1 = RosieGUI.ChatEntry(self)
+        self.chat_entry_1.grid(row=2, column=1, columnspan=2, sticky=N+S+E+W)
+
+        #PR-Todo: enter check for all chat entries being populated with text
 
         self.submit_button = Button(self, text="Send", font=("Times", "24"))
-        self.submit_button["command"] = lambda: self.chat_entry.send_message()
+        self.submit_button["command"] = lambda: self.send_combined_message()
         self.submit_button.grid(row=2, column=3, columnspan=1, sticky=N+S+E+W)
 
     def on_exit(self):
@@ -163,8 +178,9 @@ def on_exit(self):
 
     def send_message_to_rosie(self, message):
         if len(message) > 0:
-            self.chat_entry.add_to_history(message)
+            # self.chat_entry.add_to_history(message) #Todo- Comment this for now but this needs to be adjusted so that history is together.
             self.chat_entry.clear()
+            self.chat_entry_1.clear()
             self.rosie_client.send_message(message)
 
 

From f65bf35db011ef9dcd763d07aae40ae8ff8132f0 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Wed, 21 Sep 2022 18:03:31 -0400
Subject: [PATCH 12/34] Updated GUI to accept action template 2

Changed two chat entries into a list of entries and added buttons to
switch between the two action templates
---
 python/rosie/RosieGUI.py | 76 ++++++++++++++++++++++++++++++----------
 1 file changed, 57 insertions(+), 19 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 1ac05d4592..e13f0aa9a7 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -92,7 +92,7 @@ def clear(self):
 
     """ Creates a single chat box interface to send messages to Rosie and receive messages back """
     def __init__(self, rosie_client, master):
-        Frame.__init__(self, master, width=800, height=600)
+        Frame.__init__(self, master, width=1000, height=600)
         self.rosie_client = rosie_client
 
         self.master = master
@@ -100,11 +100,12 @@ def __init__(self, rosie_client, master):
         master.rowconfigure(0, weight=1)
 
         self.combined_message = ""
+        self.chat_entries = []
 
         self.create_widgets()
         self.setup_rosie_client()
 
-        master.geometry("800x600")
+        master.geometry("1000x600")
         master.protocol("WM_DELETE_WINDOW", self.on_exit)
 
     def setup_rosie_client(self):
@@ -118,23 +119,40 @@ def run(self):
         self.master.mainloop()
 
     def send_combined_message(self):
-        self.combined_message = self.chat_entry.get().strip() + " " + self.chat_entry_1.get().strip() + "."
+        self.combined_message = ""
+        for text in self.chat_entries:
+            self.combined_message += text.get().strip() + " "
+        self.combined_message = self.combined_message.strip() + "."
         self.send_message_to_rosie(self.combined_message)
-        self.chat_entry.clear()
-        self.chat_entry_1.clear()
+        for text in self.chat_entries:
+            text.clear()
+
+    def enable_action_template1(self):
+        for id in range(2,4):
+            self.chat_entries[id].config(state = "disabled")
 
+    def enable_action_template2(self):
+        for id in range(2,4):
+            self.chat_entries[id].config(state = "normal")
 
     def create_widgets(self):
         self.grid(row=0, column=0, sticky=N+S+E+W)
 
-        # 3 rows x 4 cols grid
+        # 4 rows x 5 cols grid
+        
+        # ToDo - Need to set the num_columns based on the template
+        self.num_columns = 4
+        
         self.columnconfigure(0, weight=1, minsize=200)
         self.columnconfigure(1, weight=1, minsize=200)
         self.columnconfigure(2, weight=1, minsize=200)
         self.columnconfigure(3, weight=1, minsize=200)
+        self.columnconfigure(4, weight=1, minsize=200)
         self.rowconfigure(0, weight=1, minsize=25)
         self.rowconfigure(1, weight=20, minsize=400)
         self.rowconfigure(2, weight=2, minsize=50)
+        self.rowconfigure(3, weight=2, minsize=50)
+
 
         # Row 0: Top row of buttons for running Rosie
         self.run_button = Button(self, text="Run", font=("Times", "18"))
@@ -145,31 +163,49 @@ def create_widgets(self):
         self.stop_button["command"] = lambda: self.rosie_client.stop()
         self.stop_button.grid(row=0, column=1, sticky=N+S+E+W)
 
-        # Row 1: Message History (Col 0-1) and Script Messages (Col 2-3)
+
+        # Row 1: Message History (Col 0-2) and Script Messages (Col 3-4)
 
         self.messages_list = RosieGUI.MessagesList(self)
-        self.messages_list.grid(row=1, column=0, columnspan=2, sticky=N+S+E+W)
+        self.messages_list.grid(row=1, column=0, columnspan=3, sticky=N+S+E+W)
 
         print("AGENT MESSAGES")
         print(self.rosie_client.messages)
         self.script_list = RosieGUI.ScriptList(self, self.rosie_client.messages)
         self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
-        self.script_list.grid(row=1, column=2, columnspan=2, sticky=N+S+E+W)
+        self.script_list.grid(row=1, column=3, columnspan=2, sticky=N+S+E+W)
+
 
-        # Row 2: Message Entry (Col 0-2) and Send Button (Col 3)
+        # Row 2: Template input labels (Col 0-2) + Buttons to enable AT1 and AT2 (Col 3-4)
 
-        #Todo - Check if you can make a list of chat_entries instead of this to make this cleaner
-        self.chat_entry = RosieGUI.ChatEntry(self)
-        self.chat_entry.grid(row=2, column=0, columnspan=1, sticky=N+S+E+W)
+        # Todo - Update text in labels based on the template chosen
+        # For example, if participant chooses AT1, they will see "Verb + Noun Phrase"
 
-        self.chat_entry_1 = RosieGUI.ChatEntry(self)
-        self.chat_entry_1.grid(row=2, column=1, columnspan=2, sticky=N+S+E+W)
+        for i in range(2):
+            label = Label(self, text="Test", font=("Times", "24"))
+            label.grid(row=2, column=i, columnspan=1)
+   
+        self.enable_at1_button = Button(self, text="Enable AT1", font=("Times", "18"))
+        self.enable_at1_button["command"] = lambda: self.enable_action_template1()
+        self.enable_at1_button.grid(row=2, column=3, sticky=N+S+E+W)
+
+        self.enable_at2_button = Button(self, text="Enable AT2", font=("Times", "18"))
+        self.enable_at2_button["command"] = lambda: self.enable_action_template2()
+        self.enable_at2_button.grid(row=2, column=4, sticky=N+S+E+W)
+
+
+        # Row 3: Message Entry (Col 0-3) and Send Button (Col 4)
+
+        for i in range(self.num_columns):
+            entry = RosieGUI.ChatEntry(self)
+            entry.grid(row=3, column=i, columnspan=1, sticky=N+S+E+W)
+            self.chat_entries.append(entry)
 
         #PR-Todo: enter check for all chat entries being populated with text
 
         self.submit_button = Button(self, text="Send", font=("Times", "24"))
         self.submit_button["command"] = lambda: self.send_combined_message()
-        self.submit_button.grid(row=2, column=3, columnspan=1, sticky=N+S+E+W)
+        self.submit_button.grid(row=3, column=4, columnspan=1, sticky=N+S+E+W)
 
     def on_exit(self):
         self.rosie_client.kill()
@@ -178,9 +214,11 @@ def on_exit(self):
 
     def send_message_to_rosie(self, message):
         if len(message) > 0:
-            # self.chat_entry.add_to_history(message) #Todo- Comment this for now but this needs to be adjusted so that history is together.
-            self.chat_entry.clear()
-            self.chat_entry_1.clear()
+            #Todo- Comment this for now but this needs to be adjusted based on whether you do different templates v/s one entry
+            # self.chat_entry.add_to_history(message)
+            for text in self.chat_entries:
+                text.clear()
+
             self.rosie_client.send_message(message)
 
 

From 2d6b31faa129d2476006f7eb1a92a1e2e7dbf303 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Wed, 28 Sep 2022 16:21:02 -0400
Subject: [PATCH 13/34] All templates included - toggle using button

This version of the code does not combine messages successfully.
Committing just the UI bit of it for safekeeping.
---
 python/rosie/RosieGUI.py | 130 +++++++++++++++++++++++++++++----------
 1 file changed, 98 insertions(+), 32 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index e13f0aa9a7..f4c57e180b 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -53,7 +53,7 @@ class ChatEntry(Entry):
         """ Defines a text entry box where the instructor can type messages for Rosie
             Also keeps track of the message history and supports Up/Down keys to navigate """
         def __init__(self, parent):
-            Entry.__init__(self, parent, font=("Times", "16"))
+            Entry.__init__(self, parent, font=("Times", "16"), state="disabled")
             self.parent = parent
 
             self.bind('<Return>', lambda key: self.send_message())
@@ -89,6 +89,21 @@ def send_message(self):
         def clear(self):
             self.delete(0, END)
 
+    class SwitchTextBoxes:
+        def __init__(self, parent):
+            self.parent = parent
+        
+        def enable_template_input(self, temp_type):
+            #default = "Incorrect Input"
+            [sublist[i].config(state = "disabled") for sublist in self.parent.chat_entries for i in range(len(sublist))] 
+            if temp_type == "AT1":
+                [self.parent.chat_entries[0] [i-2].config(state = "normal") for i in range(2,4)]
+            elif temp_type == "AT2":
+                [self.parent.chat_entries[1] [i-2].config(state = "normal") for i in range(2,6)]
+            elif temp_type == "GT1":
+                [self.parent.chat_entries[2] [i-2].config(state = "normal") for i in range(2,5)]
+            else:
+                [self.parent.chat_entries[3] [i-2].config(state = "normal") for i in range(2,6)]
 
     """ Creates a single chat box interface to send messages to Rosie and receive messages back """
     def __init__(self, rosie_client, master):
@@ -105,7 +120,7 @@ def __init__(self, rosie_client, master):
         self.create_widgets()
         self.setup_rosie_client()
 
-        master.geometry("1000x600")
+        master.geometry("1200x800")
         master.protocol("WM_DELETE_WINDOW", self.on_exit)
 
     def setup_rosie_client(self):
@@ -124,6 +139,7 @@ def send_combined_message(self):
             self.combined_message += text.get().strip() + " "
         self.combined_message = self.combined_message.strip() + "."
         self.send_message_to_rosie(self.combined_message)
+        # need to clear all the chat_entries
         for text in self.chat_entries:
             text.clear()
 
@@ -138,74 +154,124 @@ def enable_action_template2(self):
     def create_widgets(self):
         self.grid(row=0, column=0, sticky=N+S+E+W)
 
-        # 4 rows x 5 cols grid
+        # 8 rows x 6 cols grid
         
         # ToDo - Need to set the num_columns based on the template
         self.num_columns = 4
         
-        self.columnconfigure(0, weight=1, minsize=200)
-        self.columnconfigure(1, weight=1, minsize=200)
-        self.columnconfigure(2, weight=1, minsize=200)
-        self.columnconfigure(3, weight=1, minsize=200)
-        self.columnconfigure(4, weight=1, minsize=200)
+        self.columnconfigure(0, weight=1, minsize=150)
+        self.columnconfigure(1, weight=1, minsize=100)
+        self.columnconfigure(2, weight=1, minsize=100)
+        self.columnconfigure(3, weight=1, minsize=100)
+        self.columnconfigure(4, weight=1, minsize=100)
+        self.columnconfigure(5, weight=1, minsize=100)
+        self.columnconfigure(6, weight=1, minsize=100)
+        self.columnconfigure(7, weight=1, minsize=100)
         self.rowconfigure(0, weight=1, minsize=25)
         self.rowconfigure(1, weight=20, minsize=400)
         self.rowconfigure(2, weight=2, minsize=50)
         self.rowconfigure(3, weight=2, minsize=50)
+        self.rowconfigure(4, weight=2, minsize=50)
+        self.rowconfigure(5, weight=2, minsize=50)
 
 
         # Row 0: Top row of buttons for running Rosie
         self.run_button = Button(self, text="Run", font=("Times", "18"))
         self.run_button["command"] = lambda: self.rosie_client.start()
-        self.run_button.grid(row=0, column=0, sticky=N+S+E+W)
+        self.run_button.grid(row=0, column=0, columnspan=2, sticky=N+S+E+W)
 
         self.stop_button = Button(self, text="Stop", font=("Times", "18"))
         self.stop_button["command"] = lambda: self.rosie_client.stop()
-        self.stop_button.grid(row=0, column=1, sticky=N+S+E+W)
-
+        self.stop_button.grid(row=0, column=2, columnspan=2, sticky=N+S+E+W)
 
-        # Row 1: Message History (Col 0-2) and Script Messages (Col 3-4)
 
+        # Row 1: Message History (Col 0-4) and Script Messages (Col 5-7)
         self.messages_list = RosieGUI.MessagesList(self)
-        self.messages_list.grid(row=1, column=0, columnspan=3, sticky=N+S+E+W)
+        self.messages_list.grid(row=1, column=0, columnspan=5, sticky=N+S+E+W)
 
         print("AGENT MESSAGES")
         print(self.rosie_client.messages)
         self.script_list = RosieGUI.ScriptList(self, self.rosie_client.messages)
         self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
-        self.script_list.grid(row=1, column=3, columnspan=2, sticky=N+S+E+W)
+        self.script_list.grid(row=1, column=5, columnspan=3, sticky=N+S+E+W)
+
+
+        # Col 0: Input examples for each template (Row 2-5)
+        for i in range(2,6):
+            label = Label(self, text="Test", font=("Times", "12"))
+            label.grid(row=i, column=0, columnspan=1)
+
+        self.switch_enable = RosieGUI.SwitchTextBoxes(self)
+        
+        # Col 1: Buttons to enable/disable template inputs (Row 2-5)
+        self.enable_at1_button = Button(self, text="Action \n Template 1", font=("Times", "12"))
+        self.enable_at1_button["command"] = lambda: self.switch_enable.enable_template_input("AT1")
+        self.enable_at1_button.grid(row=2, column=1, sticky=N+S+E+W)
+
+        self.enable_at2_button = Button(self, text="Action \n Template 2", font=("Times", "12"))
+        self.enable_at2_button["command"] = lambda: self.switch_enable.enable_template_input("AT2")
+        self.enable_at2_button.grid(row=3, column=1, sticky=N+S+E+W)
 
+        self.enable_gt1_button = Button(self, text="Goal \n Template 1", font=("Times", "12"))
+        self.enable_gt1_button["command"] = lambda: self.switch_enable.enable_template_input("GT1")
+        self.enable_gt1_button.grid(row=4, column=1, sticky=N+S+E+W)
 
-        # Row 2: Template input labels (Col 0-2) + Buttons to enable AT1 and AT2 (Col 3-4)
+        self.enable_gt2_button = Button(self, text="Goal \n Template 2", font=("Times", "12"))
+        self.enable_gt2_button["command"] = lambda: self.switch_enable.enable_template_input("GT2")
+        self.enable_gt2_button.grid(row=5, column=1, sticky=N+S+E+W)
 
-        # Todo - Update text in labels based on the template chosen
+        
+        # Todo - Consider adding text in labels based on the template chosen
         # For example, if participant chooses AT1, they will see "Verb + Noun Phrase"
 
-        for i in range(2):
-            label = Label(self, text="Test", font=("Times", "24"))
-            label.grid(row=2, column=i, columnspan=1)
    
-        self.enable_at1_button = Button(self, text="Enable AT1", font=("Times", "18"))
-        self.enable_at1_button["command"] = lambda: self.enable_action_template1()
-        self.enable_at1_button.grid(row=2, column=3, sticky=N+S+E+W)
+        # Row 2: Action Template 1 Text Input (Col 2-3)
+        action_template1_list = []
+        for i in range(2,4):
+            entry = RosieGUI.ChatEntry(self)
+            entry.grid(row=2, column=i, columnspan=1, sticky=N+S+E+W)
+            action_template1_list.append(entry)
+        self.chat_entries.append(action_template1_list)
+        
+        
+        # Row 3: Action Template 2 Text Input (Col 2-5)
+        action_template2_list = []
+        for i in range(2,6):
+            entry = RosieGUI.ChatEntry(self)
+            entry.grid(row=3, column=i, columnspan=1, sticky=N+S+E+W)
+            action_template2_list.append(entry)        
+        self.chat_entries.append(action_template2_list)
+        
+        
+        # Row 4: Goal Template 1 Text Input (Col 2-5)
+        goal_label_1 = Label(self, text="The goal is that", font=("Times", "12"))
+        goal_label_1.grid(row=4, column=2, columnspan=1)
 
-        self.enable_at2_button = Button(self, text="Enable AT2", font=("Times", "18"))
-        self.enable_at2_button["command"] = lambda: self.enable_action_template2()
-        self.enable_at2_button.grid(row=2, column=4, sticky=N+S+E+W)
+        goal_template1_list = []
+        for i in range(3,6):
+            entry = RosieGUI.ChatEntry(self)
+            entry.grid(row=4, column=i, columnspan=1, sticky=N+S+E+W)
+            goal_template1_list.append(entry)
+        self.chat_entries.append(goal_template1_list)  
 
 
-        # Row 3: Message Entry (Col 0-3) and Send Button (Col 4)
+        # Row 5: Goal Template 2 Text Input (Col 2-6)
+        goal_label_2 = Label(self, text="The goal is that", font=("Times", "12"))
+        goal_label_2.grid(row=5, column=2, columnspan=1)
 
-        for i in range(self.num_columns):
+        goal_template2_list = []    
+        for i in range(3,7):
             entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=3, column=i, columnspan=1, sticky=N+S+E+W)
-            self.chat_entries.append(entry)
+            entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
+            goal_template2_list.append(entry)
+        self.chat_entries.append(goal_template2_list)
 
-        #PR-Todo: enter check for all chat entries being populated with text
 
-        self.submit_button = Button(self, text="Send", font=("Times", "24"))
+        # Col 7: Send Button (Row 3-4)
+        # ToDo: enter check for all chat entries being populated with text
+        self.submit_button = Button(self, text="Send", font=("Times", "16"))
         self.submit_button["command"] = lambda: self.send_combined_message()
-        self.submit_button.grid(row=3, column=4, columnspan=1, sticky=N+S+E+W)
+        self.submit_button.grid(row=3, column=7, rowspan=2, sticky=N+S+E+W)
 
     def on_exit(self):
         self.rosie_client.kill()

From 27b89a16b8e01aee48e5ba7fdbb4aa289a61cf7d Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 29 Sep 2022 10:28:26 -0400
Subject: [PATCH 14/34] List comprehensions -> for loops - best practices
 python

---
 python/rosie/RosieGUI.py | 48 +++++++++++++++++++++++++---------------
 1 file changed, 30 insertions(+), 18 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index f4c57e180b..24f1305535 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -89,21 +89,40 @@ def send_message(self):
         def clear(self):
             self.delete(0, END)
 
+    #ToDo: We may not need a class for this switch unless we are literally running functions
     class SwitchTextBoxes:
         def __init__(self, parent):
             self.parent = parent
         
+        """ Function to enable selected input template textboxes and disable the other input template textboxes """
         def enable_template_input(self, temp_type):
             #default = "Incorrect Input"
-            [sublist[i].config(state = "disabled") for sublist in self.parent.chat_entries for i in range(len(sublist))] 
+            for sublist in self.parent.chat_entries:
+                for i in range(len(sublist)):
+                    sublist[i].clear()
+                    sublist[i].config(state = "disabled")
+
             if temp_type == "AT1":
-                [self.parent.chat_entries[0] [i-2].config(state = "normal") for i in range(2,4)]
+                for i in range(2,4): 
+                    self.parent.chat_entries[0][i-2].config(state = "normal")
             elif temp_type == "AT2":
-                [self.parent.chat_entries[1] [i-2].config(state = "normal") for i in range(2,6)]
+                for i in range(2,6):
+                    self.parent.chat_entries[1][i-2].config(state = "normal")
             elif temp_type == "GT1":
-                [self.parent.chat_entries[2] [i-2].config(state = "normal") for i in range(2,5)]
+                for i in range(2,5):
+                    self.parent.chat_entries[2][i-2].config(state = "normal")
             else:
-                [self.parent.chat_entries[3] [i-2].config(state = "normal") for i in range(2,6)]
+                for i in range(2,6):
+                    self.parent.chat_entries[3][i-2].config(state = "normal")
+
+            #switcher.get(temp_type, "nothing")
+            #return getattr(self, 'case_' + str(temp_type), lambda: default)()
+
+        # def case_AT1(self):
+
+        # def case_AT2(self):
+
+
 
     """ Creates a single chat box interface to send messages to Rosie and receive messages back """
     def __init__(self, rosie_client, master):
@@ -139,17 +158,9 @@ def send_combined_message(self):
             self.combined_message += text.get().strip() + " "
         self.combined_message = self.combined_message.strip() + "."
         self.send_message_to_rosie(self.combined_message)
-        # need to clear all the chat_entries
-        for text in self.chat_entries:
-            text.clear()
-
-    def enable_action_template1(self):
-        for id in range(2,4):
-            self.chat_entries[id].config(state = "disabled")
-
-    def enable_action_template2(self):
-        for id in range(2,4):
-            self.chat_entries[id].config(state = "normal")
+        for sublist in self.chat_entries:
+            for i in range(len(sublist)):
+                sublist[i].clear()
 
     def create_widgets(self):
         self.grid(row=0, column=0, sticky=N+S+E+W)
@@ -282,8 +293,9 @@ def send_message_to_rosie(self, message):
         if len(message) > 0:
             #Todo- Comment this for now but this needs to be adjusted based on whether you do different templates v/s one entry
             # self.chat_entry.add_to_history(message)
-            for text in self.chat_entries:
-                text.clear()
+            for sublist in self.chat_entries:
+                for i in range(len(sublist)):
+                    sublist[i].clear()
 
             self.rosie_client.send_message(message)
 

From 0229872f92ca7629c5fd292a840c1b0e02f03107 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 29 Sep 2022 11:28:28 -0400
Subject: [PATCH 15/34] Combine texts from textboxes based on template

---
 python/rosie/RosieGUI.py | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 24f1305535..8f4365538c 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -101,6 +101,7 @@ def enable_template_input(self, temp_type):
                 for i in range(len(sublist)):
                     sublist[i].clear()
                     sublist[i].config(state = "disabled")
+            self.parent.current_selected_template = temp_type
 
             if temp_type == "AT1":
                 for i in range(2,4): 
@@ -135,6 +136,7 @@ def __init__(self, rosie_client, master):
 
         self.combined_message = ""
         self.chat_entries = []
+        self.current_selected_template = ""
 
         self.create_widgets()
         self.setup_rosie_client()
@@ -154,8 +156,22 @@ def run(self):
 
     def send_combined_message(self):
         self.combined_message = ""
-        for text in self.chat_entries:
-            self.combined_message += text.get().strip() + " "
+        
+        if self.current_selected_template == "AT1":
+            for i in range(2,4):
+                self.combined_message += self.chat_entries[0][i-2].get().strip() + " "
+        elif self.current_selected_template == "AT2":
+            for i in range(2,6):
+                self.combined_message += self.chat_entries[1][i-2].get().strip() + " "
+        elif self.current_selected_template == "GT1":
+            self.combined_message = "The goal is that "
+            for i in range(2,5):
+                self.combined_message += self.chat_entries[2][i-2].get().strip() + " "
+        else:
+            self.combined_message = "The goal is that "
+            for i in range(2,6):
+                self.combined_message += self.chat_entries[3][i-2].get().strip() + " "
+        
         self.combined_message = self.combined_message.strip() + "."
         self.send_message_to_rosie(self.combined_message)
         for sublist in self.chat_entries:

From dad9118fea8de690e4d9d5af1d377c3b18f993ea Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 13 Oct 2022 11:34:43 -0400
Subject: [PATCH 16/34] Choose template based on option selected in listbox

---
 python/rosie/RosieGUI.py | 310 ++++++++++++++++++++++++---------------
 1 file changed, 192 insertions(+), 118 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 8f4365538c..ba5953bacf 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -2,6 +2,7 @@
 import tkinter.font
 
 import sys
+from turtle import bgcolor
 
 from . import RosieClient
 from rosie.events import AgentMessageSent, ScriptMessageSent, InstructorMessageSent
@@ -10,7 +11,7 @@ class RosieGUI(Frame):
     class MessagesList(Listbox):
         """ Displays a list of messages that are the interaction history """
         def __init__(self, parent):
-            Listbox.__init__(self, parent, font=("Times", "12"), takefocus=0)
+            Listbox.__init__(self, parent, font=("Times", "24"), takefocus=0)
             self.parent = parent
             self.scrollbar = Scrollbar(self)
             self.config(yscrollcommand=self.scrollbar.set)
@@ -24,7 +25,7 @@ def add(self, message):
     class ScriptList(Listbox):
         """ Displays a list of script messages defined for Rosie """
         def __init__(self, parent, script):
-            Listbox.__init__(self, parent, font=("Times", "10"), selectmode=SINGLE)
+            Listbox.__init__(self, parent, font=("Times", "16"), selectmode=SINGLE)
             self.parent = parent
 
             self.scrollbar = Scrollbar(self)
@@ -53,12 +54,12 @@ class ChatEntry(Entry):
         """ Defines a text entry box where the instructor can type messages for Rosie
             Also keeps track of the message history and supports Up/Down keys to navigate """
         def __init__(self, parent):
-            Entry.__init__(self, parent, font=("Times", "16"), state="disabled")
+            Entry.__init__(self, parent, font=("Times", "16"), state="normal")
             self.parent = parent
 
-            self.bind('<Return>', lambda key: self.send_message())
-            self.bind('<Up>', lambda key: self.scroll_history(-1))
-            self.bind('<Down>', lambda key: self.scroll_history(1))
+            # self.bind('<Return>', lambda key: self.send_message())
+            # self.bind('<Up>', lambda key: self.scroll_history(-1))
+            # self.bind('<Down>', lambda key: self.scroll_history(1))
 
             self.message_history = []
             self.history_index = 0
@@ -93,37 +94,6 @@ def clear(self):
     class SwitchTextBoxes:
         def __init__(self, parent):
             self.parent = parent
-        
-        """ Function to enable selected input template textboxes and disable the other input template textboxes """
-        def enable_template_input(self, temp_type):
-            #default = "Incorrect Input"
-            for sublist in self.parent.chat_entries:
-                for i in range(len(sublist)):
-                    sublist[i].clear()
-                    sublist[i].config(state = "disabled")
-            self.parent.current_selected_template = temp_type
-
-            if temp_type == "AT1":
-                for i in range(2,4): 
-                    self.parent.chat_entries[0][i-2].config(state = "normal")
-            elif temp_type == "AT2":
-                for i in range(2,6):
-                    self.parent.chat_entries[1][i-2].config(state = "normal")
-            elif temp_type == "GT1":
-                for i in range(2,5):
-                    self.parent.chat_entries[2][i-2].config(state = "normal")
-            else:
-                for i in range(2,6):
-                    self.parent.chat_entries[3][i-2].config(state = "normal")
-
-            #switcher.get(temp_type, "nothing")
-            #return getattr(self, 'case_' + str(temp_type), lambda: default)()
-
-        # def case_AT1(self):
-
-        # def case_AT2(self):
-
-
 
     """ Creates a single chat box interface to send messages to Rosie and receive messages back """
     def __init__(self, rosie_client, master):
@@ -136,7 +106,7 @@ def __init__(self, rosie_client, master):
 
         self.combined_message = ""
         self.chat_entries = []
-        self.current_selected_template = ""
+        self.chat_entry_labels = []
 
         self.create_widgets()
         self.setup_rosie_client()
@@ -155,15 +125,17 @@ def run(self):
         self.master.mainloop()
 
     def send_combined_message(self):
+    # maybe use the add_to_history function as a way to combine over time.
+    ## ToDo - change font sizes back
         self.combined_message = ""
         
-        if self.current_selected_template == "AT1":
+        if self.last_selected_option == 0:
             for i in range(2,4):
                 self.combined_message += self.chat_entries[0][i-2].get().strip() + " "
-        elif self.current_selected_template == "AT2":
+        elif self.last_selected_option == 1:
             for i in range(2,6):
                 self.combined_message += self.chat_entries[1][i-2].get().strip() + " "
-        elif self.current_selected_template == "GT1":
+        elif self.last_selected_option == 2:
             self.combined_message = "The goal is that "
             for i in range(2,5):
                 self.combined_message += self.chat_entries[2][i-2].get().strip() + " "
@@ -172,34 +144,56 @@ def send_combined_message(self):
             for i in range(2,6):
                 self.combined_message += self.chat_entries[3][i-2].get().strip() + " "
         
-        self.combined_message = self.combined_message.strip() + "."
+        self.combined_message = self.combined_message.strip() + "."    
         self.send_message_to_rosie(self.combined_message)
         for sublist in self.chat_entries:
             for i in range(len(sublist)):
                 sublist[i].clear()
 
+    """ Function to hide all template labels and entries"""
+    def hide_template_entries(self):
+        for row in self.chat_entries:
+            for entry in row:
+                entry.grid_remove()
+        for row in self.chat_entry_labels:
+            for label in row:
+                label.grid_remove()
+
+    """ Function to show the template labels and entries linked to the selected option in the options menu"""
+    def show_selected_template_entries(self, selected_index):
+        for entry in self.chat_entries[selected_index]:
+            entry.grid()
+        for label in self.chat_entry_labels[selected_index]:
+            label.grid()
+        
     def create_widgets(self):
+        # ToDo: A way to clean up this code may be to get all the grid statements together and function statements(lambda etc) in another batch
+        # https://tkdocs.com/tutorial/grid.html
+        # https://www.askpython.com/python-modules/tkinter/python-tkinter-grid-example
         self.grid(row=0, column=0, sticky=N+S+E+W)
 
-        # 8 rows x 6 cols grid
-        
-        # ToDo - Need to set the num_columns based on the template
-        self.num_columns = 4
-        
+        # 10 rows x 6 cols grid        
         self.columnconfigure(0, weight=1, minsize=150)
-        self.columnconfigure(1, weight=1, minsize=100)
-        self.columnconfigure(2, weight=1, minsize=100)
-        self.columnconfigure(3, weight=1, minsize=100)
-        self.columnconfigure(4, weight=1, minsize=100)
-        self.columnconfigure(5, weight=1, minsize=100)
-        self.columnconfigure(6, weight=1, minsize=100)
-        self.columnconfigure(7, weight=1, minsize=100)
+        self.columnconfigure(1, weight=1, minsize=150)
+        self.columnconfigure(2, weight=1, minsize=150)
+        self.columnconfigure(3, weight=1, minsize=150)
+        self.columnconfigure(4, weight=1, minsize=150)
+        self.columnconfigure(5, weight=1, minsize=150)
         self.rowconfigure(0, weight=1, minsize=25)
-        self.rowconfigure(1, weight=20, minsize=400)
-        self.rowconfigure(2, weight=2, minsize=50)
-        self.rowconfigure(3, weight=2, minsize=50)
-        self.rowconfigure(4, weight=2, minsize=50)
-        self.rowconfigure(5, weight=2, minsize=50)
+        self.rowconfigure(1, weight=20, minsize=300)
+        self.rowconfigure(2, weight=1, minsize=30)
+
+        # Action Templates 1 and 2
+        self.rowconfigure(3, weight=2, minsize=30)
+        self.rowconfigure(4, weight=2, minsize=30)
+        self.rowconfigure(5, weight=2, minsize=30)
+
+        # Goal Templates 1 and 2
+        self.rowconfigure(6, weight=2, minsize=30)
+        self.rowconfigure(7, weight=2, minsize=30)
+        self.rowconfigure(8, weight=2, minsize=30)
+
+        self.rowconfigure(9, weight=1, minsize=30)
 
 
         # Row 0: Top row of buttons for running Rosie
@@ -212,93 +206,173 @@ def create_widgets(self):
         self.stop_button.grid(row=0, column=2, columnspan=2, sticky=N+S+E+W)
 
 
-        # Row 1: Message History (Col 0-4) and Script Messages (Col 5-7)
+        # Row 1: Message History (Col 0-4)
         self.messages_list = RosieGUI.MessagesList(self)
-        self.messages_list.grid(row=1, column=0, columnspan=5, sticky=N+S+E+W)
+        self.messages_list.grid(row=1, column=0, columnspan=7, sticky=N+S+E+W)
 
-        print("AGENT MESSAGES")
-        print(self.rosie_client.messages)
-        self.script_list = RosieGUI.ScriptList(self, self.rosie_client.messages)
-        self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
-        self.script_list.grid(row=1, column=5, columnspan=3, sticky=N+S+E+W)
+        # Old Row 1: Script Messages (Col 5-7)
+        # print("AGENT MESSAGES")
+        # print(self.rosie_client.messages)
+        # self.script_list = RosieGUI.ScriptList(self, self.rosie_client.messages)
+        # self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
+        # self.script_list.grid(row=1, column=4, columnspan=4, sticky=N+S+E+W)
 
 
-        # Col 0: Input examples for each template (Row 2-5)
-        for i in range(2,6):
-            label = Label(self, text="Test", font=("Times", "12"))
-            label.grid(row=i, column=0, columnspan=1)
-
-        self.switch_enable = RosieGUI.SwitchTextBoxes(self)
+        # Row 2: OptionMenu dropbox to select different template entry boxes (Col 0-2)
+        self.last_selected_option = -1
         
-        # Col 1: Buttons to enable/disable template inputs (Row 2-5)
-        self.enable_at1_button = Button(self, text="Action \n Template 1", font=("Times", "12"))
-        self.enable_at1_button["command"] = lambda: self.switch_enable.enable_template_input("AT1")
-        self.enable_at1_button.grid(row=2, column=1, sticky=N+S+E+W)
-
-        self.enable_at2_button = Button(self, text="Action \n Template 2", font=("Times", "12"))
-        self.enable_at2_button["command"] = lambda: self.switch_enable.enable_template_input("AT2")
-        self.enable_at2_button.grid(row=3, column=1, sticky=N+S+E+W)
-
-        self.enable_gt1_button = Button(self, text="Goal \n Template 1", font=("Times", "12"))
-        self.enable_gt1_button["command"] = lambda: self.switch_enable.enable_template_input("GT1")
-        self.enable_gt1_button.grid(row=4, column=1, sticky=N+S+E+W)
-
-        self.enable_gt2_button = Button(self, text="Goal \n Template 2", font=("Times", "12"))
-        self.enable_gt2_button["command"] = lambda: self.switch_enable.enable_template_input("GT2")
-        self.enable_gt2_button.grid(row=5, column=1, sticky=N+S+E+W)
-
-        
-        # Todo - Consider adding text in labels based on the template chosen
-        # For example, if participant chooses AT1, they will see "Verb + Noun Phrase"
-
-   
-        # Row 2: Action Template 1 Text Input (Col 2-3)
+        def callback(*args):            
+            # Clear the textboxes from the last selected option
+            if self.last_selected_option != -1:
+                for entry in self.chat_entries[self.last_selected_option]:
+                    entry.grid_remove()
+                for label in self.chat_entry_labels[self.last_selected_option]:
+                    label.grid_remove()
+
+            selected_index = options.index(selected_option.get().strip())
+            self.last_selected_option = selected_index
+            self.show_selected_template_entries(selected_index)
+    
+        #Set the Menu initially
+        selected_option = StringVar(value="Select Any Template Input")
+        selected_option.trace("w", callback)
+    
+        options = ["Action Template 1", 
+                   "Action Template 2", 
+                   "Goal Template 1", 
+                   "Goal Template 2"]
+      
+        self.template_optionsmenu = OptionMenu(self, selected_option, *options)
+        self.template_optionsmenu.grid(row=2, column=0, columnspan=2, sticky=N+S+E+W)
+        self.template_optionsmenu.config(font=("Arial", "14"))
+        self.template_optionsmenu["menu"].config(font=("Arial", "14"))
+
+
+        # Row 3-8: Action and Goal Template Labels and Text Entries 
+
+        # Row 3-4: Action Template 1 Labels (Col 0-1)
+        action_template1_label_list = []
+        label1_et1 = Label(self, text="Verb", font=("Times", "12"))
+        label1_et1.grid(row=3, column=0, columnspan=1)
+        label1_et2 = Label(self, text="Turn on", font=("Times", "14", "italic"))
+        label1_et2.grid(row=4, column=0, columnspan=1)
+        label1_et3 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        label1_et3.grid(row=3, column=1, columnspan=1)
+        label1_et4 = Label(self, text="the alarm", font=("Times", "14", "italic"))
+        label1_et4.grid(row=4, column=1, columnspan=1)
+        action_template1_label_list.extend([label1_et1,label1_et2,label1_et3,label1_et4])
+        self.chat_entry_labels.append(action_template1_label_list)
+
+        # Row 5: Action Template 1 Text Input (Col 0-1)
         action_template1_list = []
-        for i in range(2,4):
+        for i in range(0,2):
             entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=2, column=i, columnspan=1, sticky=N+S+E+W)
+            entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
             action_template1_list.append(entry)
         self.chat_entries.append(action_template1_list)
         
+        # Row 3-4: Action Template 2 Labels (Col 0-3)
+        action_template2_label_list = []
+        label2_et1 = Label(self, text="Verb", font=("Times", "12"))
+        label2_et1.grid(row=3, column=0, columnspan=1)
+        label2_et2 = Label(self, text="Fetch", font=("Times", "14", "italic"))
+        label2_et2.grid(row=4, column=0, columnspan=1)
+        label2_et3 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        label2_et3.grid(row=3, column=1, columnspan=1)
+        label2_et4 = Label(self, text="an extinguisher", font=("Times", "14", "italic"))
+        label2_et4.grid(row=4, column=1, columnspan=1)
+        label2_et5 = Label(self, text="Preposition", font=("Times", "12"))
+        label2_et5.grid(row=3, column=2, columnspan=1)
+        label2_et6 = Label(self, text="from", font=("Times", "14", "italic"))
+        label2_et6.grid(row=4, column=2, columnspan=1)
+        label2_et7 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        label2_et7.grid(row=3, column=3, columnspan=1)
+        label2_et8 = Label(self, text="the supply room", font=("Times", "14", "italic"))
+        label2_et8.grid(row=4, column=3, columnspan=1)
+        action_template2_label_list.extend([label2_et1,label2_et2,label2_et3,label2_et4,label2_et5,label2_et6,label2_et7,label2_et8])
+        self.chat_entry_labels.append(action_template2_label_list)
         
-        # Row 3: Action Template 2 Text Input (Col 2-5)
+        # Row 5: Action Template 2 Text Input (Col 0-3)
         action_template2_list = []
-        for i in range(2,6):
+        for i in range(0,4):
             entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=3, column=i, columnspan=1, sticky=N+S+E+W)
+            entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
             action_template2_list.append(entry)        
         self.chat_entries.append(action_template2_list)
+
+        # Row 6-8: Goal Template 1
+        goal_template1_label_list = []
+        # Goal Template 1 - Chat Entry Default Label
+        goal_label1_et1 = Label(self, text="The goal is that", font=("Times", "14"))
+        goal_label1_et1.grid(row=8, column=0, columnspan=1)
+        # Goal Template 1 Labels (Col 1-3)
+        goal_label1_et2 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        goal_label1_et2.grid(row=6, column=1, columnspan=1)
+        goal_label1_et3 = Label(self, text="the alarm", font=("Times", "14", "italic"))
+        goal_label1_et3.grid(row=7, column=1, columnspan=1)
+        goal_label1_et4 = Label(self, text="Verb", font=("Times", "12"))
+        goal_label1_et4.grid(row=6, column=2, columnspan=1)
+        goal_label1_et5 = Label(self, text="is", font=("Times", "14", "italic"))
+        goal_label1_et5.grid(row=7, column=2, columnspan=1)
+        goal_label1_et6 = Label(self, text="Object State", font=("Times", "12"))
+        goal_label1_et6.grid(row=6, column=3, columnspan=1)
+        goal_label1_et7 = Label(self, text="on", font=("Times", "14", "italic"))
+        goal_label1_et7.grid(row=7, column=3, columnspan=1)
         
-        
-        # Row 4: Goal Template 1 Text Input (Col 2-5)
-        goal_label_1 = Label(self, text="The goal is that", font=("Times", "12"))
-        goal_label_1.grid(row=4, column=2, columnspan=1)
+        goal_template1_label_list.extend([goal_label1_et1,goal_label1_et2,goal_label1_et3,goal_label1_et4,goal_label1_et5,goal_label1_et6,goal_label1_et7])
+        self.chat_entry_labels.append(goal_template1_label_list)
 
+        # Row 8: Goal Template 1 Text Input (Col 1-3)
         goal_template1_list = []
-        for i in range(3,6):
+        for i in range(1,4):
             entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=4, column=i, columnspan=1, sticky=N+S+E+W)
+            entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
             goal_template1_list.append(entry)
         self.chat_entries.append(goal_template1_list)  
 
-
-        # Row 5: Goal Template 2 Text Input (Col 2-6)
-        goal_label_2 = Label(self, text="The goal is that", font=("Times", "12"))
-        goal_label_2.grid(row=5, column=2, columnspan=1)
-
+        # Row 6-8: Goal Template 2
+        goal_template2_label_list = []
+        # Goal Template 2 - Chat Entry Default Label
+        goal_label2_et1 = Label(self, text="The goal is that", font=("Times", "14"))
+        goal_label2_et1.grid(row=8, column=0, columnspan=1)
+        # Goal Template 2 Labels (Col 1-3)
+        goal_label2_et2 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        goal_label2_et2.grid(row=6, column=1, columnspan=1)
+        goal_label2_et3 = Label(self, text="the extinguisher", font=("Times", "14", "italic"))
+        goal_label2_et3.grid(row=7, column=1, columnspan=1)
+        goal_label2_et4 = Label(self, text="Verb", font=("Times", "12"))
+        goal_label2_et4.grid(row=6, column=2, columnspan=1)
+        goal_label2_et5 = Label(self, text="is", font=("Times", "14", "italic"))
+        goal_label2_et5.grid(row=7, column=2, columnspan=1)
+        goal_label2_et6 = Label(self, text="Preposition", font=("Times", "12"))
+        goal_label2_et6.grid(row=6, column=3, columnspan=1)
+        goal_label2_et7 = Label(self, text="in", font=("Times", "14", "italic"))
+        goal_label2_et7.grid(row=7, column=3, columnspan=1)
+        goal_label2_et8 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        goal_label2_et8.grid(row=6, column=4, columnspan=1)
+        goal_label2_et9 = Label(self, text="the sentry-post", font=("Times", "14", "italic"))
+        goal_label2_et9.grid(row=7, column=4, columnspan=1)
+
+        goal_template2_label_list.extend([goal_label2_et1,goal_label2_et2,goal_label2_et3,goal_label2_et4,goal_label2_et5,
+                                          goal_label2_et6,goal_label2_et7,goal_label2_et8,goal_label2_et9])
+        self.chat_entry_labels.append(goal_template2_label_list)
+
+        # Row 8: Goal Template 2 Text Input (Col 1-4)
         goal_template2_list = []    
-        for i in range(3,7):
+        for i in range(1,5): 
             entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
+            entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
             goal_template2_list.append(entry)
         self.chat_entries.append(goal_template2_list)
-
-
-        # Col 7: Send Button (Row 3-4)
+        
+        # Row 9: Send Button (Col 5)
         # ToDo: enter check for all chat entries being populated with text
-        self.submit_button = Button(self, text="Send", font=("Times", "16"))
+        self.submit_button = Button(self, text="Send", font=("Times", "18"))
         self.submit_button["command"] = lambda: self.send_combined_message()
-        self.submit_button.grid(row=3, column=7, rowspan=2, sticky=N+S+E+W)
+        self.submit_button.grid(row=9, column=5, sticky=N+S+E+W)
+        
+        # Hide all template labels and entries at the beginning
+        self.hide_template_entries()
 
     def on_exit(self):
         self.rosie_client.kill()

From 64041004f4bde6eb7c190d56ef7a4d9b0f4167a2 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Fri, 21 Oct 2022 11:20:03 -0400
Subject: [PATCH 17/34] Created and populated template listboxes

- Replaced entries with autocomplete_entrylistboxes
- Create a folder with predefined parts of speech lists to make
available for participants
---
 python/rosie/RosieGUI.py                      | 203 ++++++++++++------
 python/rosie/parts-of-speech-lists/nouns.txt  |  32 +++
 .../parts-of-speech-lists/object-states.txt   |  15 ++
 .../parts-of-speech-lists/prepositions.txt    |  54 +++++
 python/rosie/parts-of-speech-lists/verbs.txt  | 178 +++++++++++++++
 5 files changed, 412 insertions(+), 70 deletions(-)
 create mode 100644 python/rosie/parts-of-speech-lists/nouns.txt
 create mode 100644 python/rosie/parts-of-speech-lists/object-states.txt
 create mode 100644 python/rosie/parts-of-speech-lists/prepositions.txt
 create mode 100644 python/rosie/parts-of-speech-lists/verbs.txt

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index ba5953bacf..c453aa028b 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -1,8 +1,7 @@
-from tkinter import *
-import tkinter.font
-
+import os
 import sys
-from turtle import bgcolor
+from tkinter import *
+from ttkwidgets.autocomplete import AutocompleteEntryListbox
 
 from . import RosieClient
 from rosie.events import AgentMessageSent, ScriptMessageSent, InstructorMessageSent
@@ -105,8 +104,14 @@ def __init__(self, rosie_client, master):
         master.rowconfigure(0, weight=1)
 
         self.combined_message = ""
-        self.chat_entries = []
-        self.chat_entry_labels = []
+        self.listbox_entries = []
+        self.listbox_entry_labels = []
+        
+        # Initialize lists of the different parts of speech for list dropdowns
+        self.verb_list = []
+        self.prep_list = []
+        self.noun_list = []
+        self.object_states_list = []
 
         self.create_widgets()
         self.setup_rosie_client()
@@ -124,6 +129,29 @@ def run(self):
         self.rosie_client.connect()
         self.master.mainloop()
 
+    """Import parts of speech lists from documents to python lists"""
+    def create_parts_of_speech_lists(self):
+        pos_folder_path = "/home/preetir/rosie-project/rosie/python/rosie/parts-of-speech-lists"
+
+        # Create list of verbs
+        self.verb_list = open(os.path.join(pos_folder_path, "verbs.txt")).read().splitlines()
+        self.verb_list = sorted(self.verb_list)
+        
+        # Create list of prepositions
+        self.prep_list = open(os.path.join(pos_folder_path, "prepositions.txt")).read().splitlines()
+        self.prep_list = sorted(self.prep_list)
+        
+        # Create list of nouns
+        self.noun_list = open(os.path.join(pos_folder_path, "nouns.txt")).read().splitlines()
+        self.noun_list = sorted(self.noun_list)
+        
+        # Create list of being verbs
+        self.being_verb_list = ["are","are not","is","is not"]
+        
+        # Create list of object states
+        self.object_states_list = open(os.path.join(pos_folder_path, "object-states.txt")).read().splitlines()
+        self.object_states_list = sorted(self.object_states_list)
+
     def send_combined_message(self):
     # maybe use the add_to_history function as a way to combine over time.
     ## ToDo - change font sizes back
@@ -131,45 +159,68 @@ def send_combined_message(self):
         
         if self.last_selected_option == 0:
             for i in range(2,4):
-                self.combined_message += self.chat_entries[0][i-2].get().strip() + " "
+                self.combined_message += self.listbox_entries[0][i-2].get().strip() + " "
         elif self.last_selected_option == 1:
             for i in range(2,6):
-                self.combined_message += self.chat_entries[1][i-2].get().strip() + " "
+                self.combined_message += self.listbox_entries[1][i-2].get().strip() + " "
         elif self.last_selected_option == 2:
             self.combined_message = "The goal is that "
             for i in range(2,5):
-                self.combined_message += self.chat_entries[2][i-2].get().strip() + " "
+                self.combined_message += self.listbox_entries[2][i-2].get().strip() + " "
         else:
             self.combined_message = "The goal is that "
             for i in range(2,6):
-                self.combined_message += self.chat_entries[3][i-2].get().strip() + " "
+                self.combined_message += self.listbox_entries[3][i-2].get().strip() + " "
         
         self.combined_message = self.combined_message.strip() + "."    
         self.send_message_to_rosie(self.combined_message)
-        for sublist in self.chat_entries:
+        for sublist in self.listbox_entries:
             for i in range(len(sublist)):
                 sublist[i].clear()
 
+    """Populate listbox entries with predefined lists of parts of speech"""
+    def populate_template_listboxes(self):
+        # Populate verb listboxes
+        self.listbox_entries[0][0].configure(completevalues=self.verb_list)
+        self.listbox_entries[1][0].configure(completevalues=self.verb_list)
+
+        # Populate being verb listboxes
+        self.listbox_entries[2][1].configure(completevalues=self.being_verb_list)
+        self.listbox_entries[3][1].configure(completevalues=self.being_verb_list)
+
+        # Populate preposition listboxes
+        self.listbox_entries[1][2].configure(completevalues=self.prep_list)
+        self.listbox_entries[3][2].configure(completevalues=self.prep_list)   
+
+        # Populate noun listboxes
+        index_noun_list = [(0,1),(1,1),(1,3),(2,0),(3,0),(3,3)]
+        for tuple in index_noun_list:
+            self.listbox_entries[tuple[0]][tuple[1]].configure(completevalues=self.noun_list)
+
+        # Populate object states listboxes
+        self.listbox_entries[2][2].configure(completevalues=self.object_states_list)
+    
     """ Function to hide all template labels and entries"""
     def hide_template_entries(self):
-        for row in self.chat_entries:
-            for entry in row:
-                entry.grid_remove()
-        for row in self.chat_entry_labels:
+        for row in self.listbox_entries:
+            for listbox_entry in row:
+                listbox_entry.grid_remove()
+        for row in self.listbox_entry_labels:
             for label in row:
                 label.grid_remove()
 
     """ Function to show the template labels and entries linked to the selected option in the options menu"""
     def show_selected_template_entries(self, selected_index):
-        for entry in self.chat_entries[selected_index]:
-            entry.grid()
-        for label in self.chat_entry_labels[selected_index]:
+        for listbox_entry in self.listbox_entries[selected_index]:
+            listbox_entry.grid()
+        for label in self.listbox_entry_labels[selected_index]:
             label.grid()
         
     def create_widgets(self):
         # ToDo: A way to clean up this code may be to get all the grid statements together and function statements(lambda etc) in another batch
         # https://tkdocs.com/tutorial/grid.html
         # https://www.askpython.com/python-modules/tkinter/python-tkinter-grid-example
+        self.create_parts_of_speech_lists()
         self.grid(row=0, column=0, sticky=N+S+E+W)
 
         # 10 rows x 6 cols grid        
@@ -224,9 +275,10 @@ def create_widgets(self):
         def callback(*args):            
             # Clear the textboxes from the last selected option
             if self.last_selected_option != -1:
-                for entry in self.chat_entries[self.last_selected_option]:
-                    entry.grid_remove()
-                for label in self.chat_entry_labels[self.last_selected_option]:
+                for listbox_t in self.listbox_entries[self.last_selected_option]:
+                    listbox_t.clear()
+                    listbox_t.grid_remove()
+                for label in self.listbox_entry_labels[self.last_selected_option]:
                     label.grid_remove()
 
             selected_index = options.index(selected_option.get().strip())
@@ -252,118 +304,126 @@ def callback(*args):
 
         # Row 3-4: Action Template 1 Labels (Col 0-1)
         action_template1_label_list = []
-        label1_et1 = Label(self, text="Verb", font=("Times", "12"))
+        label1_et1 = Label(self, text="Verb", font=("Times", "14"))
         label1_et1.grid(row=3, column=0, columnspan=1)
-        label1_et2 = Label(self, text="Turn on", font=("Times", "14", "italic"))
+        label1_et2 = Label(self, text="Turn on", font=("Times", "15", "italic"))
         label1_et2.grid(row=4, column=0, columnspan=1)
-        label1_et3 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        label1_et3 = Label(self, text="Noun Phrase", font=("Times", "14"))
         label1_et3.grid(row=3, column=1, columnspan=1)
-        label1_et4 = Label(self, text="the alarm", font=("Times", "14", "italic"))
+        label1_et4 = Label(self, text="the alarm", font=("Times", "15", "italic"))
         label1_et4.grid(row=4, column=1, columnspan=1)
         action_template1_label_list.extend([label1_et1,label1_et2,label1_et3,label1_et4])
-        self.chat_entry_labels.append(action_template1_label_list)
+        self.listbox_entry_labels.append(action_template1_label_list)
 
         # Row 5: Action Template 1 Text Input (Col 0-1)
         action_template1_list = []
         for i in range(0,2):
-            entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
-            action_template1_list.append(entry)
-        self.chat_entries.append(action_template1_list)
+            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+            listbox_entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
+            
+            action_template1_list.append(listbox_entry)
+        self.listbox_entries.append(action_template1_list)
+
         
         # Row 3-4: Action Template 2 Labels (Col 0-3)
         action_template2_label_list = []
-        label2_et1 = Label(self, text="Verb", font=("Times", "12"))
+        label2_et1 = Label(self, text="Verb", font=("Times", "14"))
         label2_et1.grid(row=3, column=0, columnspan=1)
-        label2_et2 = Label(self, text="Fetch", font=("Times", "14", "italic"))
+        label2_et2 = Label(self, text="Fetch", font=("Times", "15", "italic"))
         label2_et2.grid(row=4, column=0, columnspan=1)
-        label2_et3 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        label2_et3 = Label(self, text="Noun Phrase", font=("Times", "14"))
         label2_et3.grid(row=3, column=1, columnspan=1)
-        label2_et4 = Label(self, text="an extinguisher", font=("Times", "14", "italic"))
+        label2_et4 = Label(self, text="an extinguisher", font=("Times", "15", "italic"))
         label2_et4.grid(row=4, column=1, columnspan=1)
-        label2_et5 = Label(self, text="Preposition", font=("Times", "12"))
+        label2_et5 = Label(self, text="Preposition", font=("Times", "14"))
         label2_et5.grid(row=3, column=2, columnspan=1)
-        label2_et6 = Label(self, text="from", font=("Times", "14", "italic"))
+        label2_et6 = Label(self, text="from", font=("Times", "15", "italic"))
         label2_et6.grid(row=4, column=2, columnspan=1)
-        label2_et7 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        label2_et7 = Label(self, text="Noun Phrase", font=("Times", "14"))
         label2_et7.grid(row=3, column=3, columnspan=1)
-        label2_et8 = Label(self, text="the supply room", font=("Times", "14", "italic"))
+        label2_et8 = Label(self, text="the supply room", font=("Times", "15", "italic"))
         label2_et8.grid(row=4, column=3, columnspan=1)
         action_template2_label_list.extend([label2_et1,label2_et2,label2_et3,label2_et4,label2_et5,label2_et6,label2_et7,label2_et8])
-        self.chat_entry_labels.append(action_template2_label_list)
+        self.listbox_entry_labels.append(action_template2_label_list)
         
         # Row 5: Action Template 2 Text Input (Col 0-3)
         action_template2_list = []
         for i in range(0,4):
-            entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
-            action_template2_list.append(entry)        
-        self.chat_entries.append(action_template2_list)
+            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+            listbox_entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
+
+            action_template2_list.append(listbox_entry)        
+        self.listbox_entries.append(action_template2_list)
+
 
         # Row 6-8: Goal Template 1
         goal_template1_label_list = []
         # Goal Template 1 - Chat Entry Default Label
-        goal_label1_et1 = Label(self, text="The goal is that", font=("Times", "14"))
+        goal_label1_et1 = Label(self, text="The goal is that", font=("Times", "15"))
         goal_label1_et1.grid(row=8, column=0, columnspan=1)
         # Goal Template 1 Labels (Col 1-3)
-        goal_label1_et2 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        goal_label1_et2 = Label(self, text="Noun Phrase", font=("Times", "14"))
         goal_label1_et2.grid(row=6, column=1, columnspan=1)
-        goal_label1_et3 = Label(self, text="the alarm", font=("Times", "14", "italic"))
+        goal_label1_et3 = Label(self, text="the alarm", font=("Times", "15", "italic"))
         goal_label1_et3.grid(row=7, column=1, columnspan=1)
-        goal_label1_et4 = Label(self, text="Verb", font=("Times", "12"))
+        goal_label1_et4 = Label(self, text="Verb", font=("Times", "14"))
         goal_label1_et4.grid(row=6, column=2, columnspan=1)
-        goal_label1_et5 = Label(self, text="is", font=("Times", "14", "italic"))
+        goal_label1_et5 = Label(self, text="is", font=("Times", "15", "italic"))
         goal_label1_et5.grid(row=7, column=2, columnspan=1)
-        goal_label1_et6 = Label(self, text="Object State", font=("Times", "12"))
+        goal_label1_et6 = Label(self, text="Object State", font=("Times", "14"))
         goal_label1_et6.grid(row=6, column=3, columnspan=1)
-        goal_label1_et7 = Label(self, text="on", font=("Times", "14", "italic"))
+        goal_label1_et7 = Label(self, text="on", font=("Times", "15", "italic"))
         goal_label1_et7.grid(row=7, column=3, columnspan=1)
         
         goal_template1_label_list.extend([goal_label1_et1,goal_label1_et2,goal_label1_et3,goal_label1_et4,goal_label1_et5,goal_label1_et6,goal_label1_et7])
-        self.chat_entry_labels.append(goal_template1_label_list)
+        self.listbox_entry_labels.append(goal_template1_label_list)
 
         # Row 8: Goal Template 1 Text Input (Col 1-3)
         goal_template1_list = []
         for i in range(1,4):
-            entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
-            goal_template1_list.append(entry)
-        self.chat_entries.append(goal_template1_list)  
+            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+            listbox_entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
+
+            goal_template1_list.append(listbox_entry)
+        self.listbox_entries.append(goal_template1_list)  
+
 
         # Row 6-8: Goal Template 2
         goal_template2_label_list = []
         # Goal Template 2 - Chat Entry Default Label
-        goal_label2_et1 = Label(self, text="The goal is that", font=("Times", "14"))
+        goal_label2_et1 = Label(self, text="The goal is that", font=("Times", "15"))
         goal_label2_et1.grid(row=8, column=0, columnspan=1)
         # Goal Template 2 Labels (Col 1-3)
-        goal_label2_et2 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        goal_label2_et2 = Label(self, text="Noun Phrase", font=("Times", "14"))
         goal_label2_et2.grid(row=6, column=1, columnspan=1)
-        goal_label2_et3 = Label(self, text="the extinguisher", font=("Times", "14", "italic"))
+        goal_label2_et3 = Label(self, text="the extinguisher", font=("Times", "15", "italic"))
         goal_label2_et3.grid(row=7, column=1, columnspan=1)
-        goal_label2_et4 = Label(self, text="Verb", font=("Times", "12"))
+        goal_label2_et4 = Label(self, text="Verb", font=("Times", "14"))
         goal_label2_et4.grid(row=6, column=2, columnspan=1)
-        goal_label2_et5 = Label(self, text="is", font=("Times", "14", "italic"))
+        goal_label2_et5 = Label(self, text="is", font=("Times", "15", "italic"))
         goal_label2_et5.grid(row=7, column=2, columnspan=1)
-        goal_label2_et6 = Label(self, text="Preposition", font=("Times", "12"))
+        goal_label2_et6 = Label(self, text="Preposition", font=("Times", "14"))
         goal_label2_et6.grid(row=6, column=3, columnspan=1)
-        goal_label2_et7 = Label(self, text="in", font=("Times", "14", "italic"))
+        goal_label2_et7 = Label(self, text="in", font=("Times", "15", "italic"))
         goal_label2_et7.grid(row=7, column=3, columnspan=1)
-        goal_label2_et8 = Label(self, text="Noun Phrase", font=("Times", "12"))
+        goal_label2_et8 = Label(self, text="Noun Phrase", font=("Times", "14"))
         goal_label2_et8.grid(row=6, column=4, columnspan=1)
-        goal_label2_et9 = Label(self, text="the sentry-post", font=("Times", "14", "italic"))
+        goal_label2_et9 = Label(self, text="the sentry-post", font=("Times", "15", "italic"))
         goal_label2_et9.grid(row=7, column=4, columnspan=1)
 
         goal_template2_label_list.extend([goal_label2_et1,goal_label2_et2,goal_label2_et3,goal_label2_et4,goal_label2_et5,
                                           goal_label2_et6,goal_label2_et7,goal_label2_et8,goal_label2_et9])
-        self.chat_entry_labels.append(goal_template2_label_list)
+        self.listbox_entry_labels.append(goal_template2_label_list)
 
         # Row 8: Goal Template 2 Text Input (Col 1-4)
         goal_template2_list = []    
         for i in range(1,5): 
-            entry = RosieGUI.ChatEntry(self)
-            entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
-            goal_template2_list.append(entry)
-        self.chat_entries.append(goal_template2_list)
+            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+            listbox_entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
+
+            goal_template2_list.append(listbox_entry)
+        self.listbox_entries.append(goal_template2_list)
+        
         
         # Row 9: Send Button (Col 5)
         # ToDo: enter check for all chat entries being populated with text
@@ -371,6 +431,9 @@ def callback(*args):
         self.submit_button["command"] = lambda: self.send_combined_message()
         self.submit_button.grid(row=9, column=5, sticky=N+S+E+W)
         
+        # Populate all the listboxes with individual POS lists
+        self.populate_template_listboxes()       
+ 
         # Hide all template labels and entries at the beginning
         self.hide_template_entries()
 
@@ -383,7 +446,7 @@ def send_message_to_rosie(self, message):
         if len(message) > 0:
             #Todo- Comment this for now but this needs to be adjusted based on whether you do different templates v/s one entry
             # self.chat_entry.add_to_history(message)
-            for sublist in self.chat_entries:
+            for sublist in self.listbox_entries:
                 for i in range(len(sublist)):
                     sublist[i].clear()
 
diff --git a/python/rosie/parts-of-speech-lists/nouns.txt b/python/rosie/parts-of-speech-lists/nouns.txt
new file mode 100644
index 0000000000..f2dc37360c
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/nouns.txt
@@ -0,0 +1,32 @@
+table
+plate
+ketchup
+light switch
+fridge
+garbage
+stove
+sink
+counter
+desk
+bench
+workbench
+worktable
+surface
+saucer
+dish
+sauce
+spice
+condiment
+seasoning
+switch
+light
+chiller
+refrigerator
+cooler
+ice box
+cold storage
+waste
+refuse
+junk
+litter
+range
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/object-states.txt b/python/rosie/parts-of-speech-lists/object-states.txt
new file mode 100644
index 0000000000..c4bbcbce48
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/object-states.txt
@@ -0,0 +1,15 @@
+on
+off
+open
+closed
+empty
+available
+filled
+free
+full
+covered
+moved
+clear
+connected
+locked
+present
diff --git a/python/rosie/parts-of-speech-lists/prepositions.txt b/python/rosie/parts-of-speech-lists/prepositions.txt
new file mode 100644
index 0000000000..6a2f89eda9
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/prepositions.txt
@@ -0,0 +1,54 @@
+aboard
+about
+above
+across
+after
+against
+along
+amid
+among
+around
+at
+before
+behind
+below
+beneath
+beside
+between
+by
+down
+during
+for
+from
+in
+into
+like
+near
+of
+off
+on
+onto
+over
+past
+through
+throughout
+to
+toward
+under
+underneath
+until
+unto
+up
+upon
+with
+within
+without
+atop
+except
+in front of
+inside
+next to
+opposite
+since
+while
+out of
diff --git a/python/rosie/parts-of-speech-lists/verbs.txt b/python/rosie/parts-of-speech-lists/verbs.txt
new file mode 100644
index 0000000000..950b2af51e
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/verbs.txt
@@ -0,0 +1,178 @@
+pick up
+put down
+turn on
+turn off
+go to
+scan
+close
+give
+open
+pour
+press
+use
+approach
+drive
+face
+orient
+stop
+turn
+explore
+find
+view
+ask
+describe
+say
+recall
+remember
+wait
+use
+remove
+reset
+flip on
+flip off
+lock
+unlock
+move
+store
+discard
+deliver
+fetch
+take
+guide
+stack
+tell
+bring
+cook
+set
+throw
+organize
+patrol
+refrigerate
+lead
+drive
+recite
+heat
+guard
+raise
+inspect
+keep
+monitor
+observe
+continue
+complete
+skip
+interrupt
+finish
+ensure
+place
+turn
+follow
+orient
+stop
+explore
+advance
+look up
+look down
+lift up
+lift down
+describe
+sense
+check
+repeat
+attend
+ignore
+fill
+avoid
+prefer
+attack
+load
+consider
+perform
+serve
+clean
+build
+calculate
+carry
+choose
+compare
+count
+create
+decide
+delay
+determine
+develop
+discover
+distribute
+do
+drop
+enable
+enter
+examine
+expand
+explain
+extend
+fold
+forget
+generate
+get
+hold
+identify
+illustrate
+include
+incorporate
+indicate
+inform
+install
+introduce
+investigate
+involve
+lean on
+learn
+leave
+lend
+listen to
+look at
+maintain
+make
+manage
+measure
+meet
+mention
+obtain
+plan
+play
+point
+possess
+practice
+prepare
+prevent
+proceed
+pull
+pursue
+push
+get from
+put in
+put on
+quit
+read
+receive
+remind
+repair
+replace
+require
+ring
+see
+send
+show
+shut
+specify
+stand
+start
+submit
+supply
+talk to
+teach
+tear
+wait
+watch
+grab
\ No newline at end of file

From 68129ef78ca74c59149b5df83b7b74e5b383480a Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Sun, 13 Nov 2022 16:42:54 -0500
Subject: [PATCH 18/34] UI changes (buttons, verb lists, row/col adjust)

Changed optionmenu to individual buttons
Changed names to be clearer (verbs to actions etc)
Changed UI arrangement in terms of rows/columns to account for new values
Made a smaller list of all the parts of speech
Put the bigger list in different -extended files
---
 agent/init-smem/actions.soar                  |  36 ++
 .../smem-words/verbs.soar                     |  37 ++
 python/rosie/RosieGUI.py                      | 324 +++++++++---------
 .../parts-of-speech-lists/nouns-extended.txt  |  37 ++
 python/rosie/parts-of-speech-lists/nouns.txt  |  27 +-
 .../object-states-extended.txt                |  16 +
 .../parts-of-speech-lists/object-states.txt   |   5 +-
 .../prepositions-extended.txt                 |  54 +++
 .../parts-of-speech-lists/prepositions.txt    |  28 +-
 .../parts-of-speech-lists/verbs-extended.txt  | 167 +++++++++
 python/rosie/parts-of-speech-lists/verbs.txt  | 201 ++---------
 11 files changed, 539 insertions(+), 393 deletions(-)
 create mode 100644 python/rosie/parts-of-speech-lists/nouns-extended.txt
 create mode 100644 python/rosie/parts-of-speech-lists/object-states-extended.txt
 create mode 100644 python/rosie/parts-of-speech-lists/prepositions-extended.txt
 create mode 100644 python/rosie/parts-of-speech-lists/verbs-extended.txt

diff --git a/agent/init-smem/actions.soar b/agent/init-smem/actions.soar
index 500a5b1935..09e26797b3 100644
--- a/agent/init-smem/actions.soar
+++ b/agent/init-smem/actions.soar
@@ -761,6 +761,42 @@ smem --add {
    (@ensure1 ^handle ensure1 ^item-type action)
 }
 
+# Adding valid verbs for template inputs
+
+### +@start1 [138]
+smem --add {
+   (@start1 ^handle start1 ^item-type action)
+}
+
+### +@shut1 [139]
+smem --add {
+   (@shut1 ^handle shut1 ^item-type action)
+}
+
+### +@get1 [140]
+smem --add {
+   (@get1 ^handle get1 ^item-type action)
+}
+
+### +@grab1 [141]
+smem --add {
+   (@grab1 ^handle grab1 ^item-type action)
+}
+
+### +@clear1 [142]
+smem --add {
+   (@clear1 ^handle clear1 ^item-type action)
+}
+
+### +@empty1 [143]
+smem --add {
+   (@empty1 ^handle empty1 ^item-type action)
+}
+
+### +@carry1 [144]
+smem --add {
+   (@carry1 ^handle carry1 ^item-type action)
+}
 #!#############################################################################################
 #!#############################################################################################
 #! Driving Actions
diff --git a/agent/language-comprehension/smem-words/verbs.soar b/agent/language-comprehension/smem-words/verbs.soar
index 41068e1f01..3b8a5f328e 100644
--- a/agent/language-comprehension/smem-words/verbs.soar
+++ b/agent/language-comprehension/smem-words/verbs.soar
@@ -621,6 +621,43 @@ smem --add {
            (<heat> ^spelling |heat|
                    ^referent @heat1
                    ^super-type @60999)
+
+# Verbs added by PR for action templates
+           (<carry> ^spelling |carry|
+                   ^referent @carry1
+                   ^super-type @60999)
+
+           (<clear> ^spelling |clear|
+                   ^referent @clear1
+                   ^super-type @60996)
+
+           (<empty> ^spelling |empty|
+                   ^referent @empty1
+                   ^super-type @60998)
+
+           (<get> ^spelling |get|
+                   ^referent @get1
+                   ^super-type @60999)
+
+           (<grab> ^spelling |grab|
+                   ^referent @grab1
+                   ^super-type @60998)
+
+           (<shut> ^spelling |shut|
+                   ^referent @shut1
+                   ^super-type @60998)
+
+           (<start> ^spelling |start|
+                   ^referent @start1
+                   ^super-type @60994)
+
+           (<place> ^spelling |place|
+                   ^referent @place1
+                   ^super-type @60998)
+
+           (<refrigerate> ^spelling |refrigerate|
+                   ^referent @refrigerate1
+                   ^super-type @60998)
             
 }
 
diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index c453aa028b..556a323fb6 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -1,6 +1,7 @@
 import os
 import sys
 from tkinter import *
+from tkinter.ttk import Treeview
 from ttkwidgets.autocomplete import AutocompleteEntryListbox
 
 from . import RosieClient
@@ -21,6 +22,7 @@ def add(self, message):
             self.insert(END, message)
             self.see(END)
 
+
     class ScriptList(Listbox):
         """ Displays a list of script messages defined for Rosie """
         def __init__(self, parent, script):
@@ -49,50 +51,6 @@ def select_line(self, index):
             self.event_generate("<<ListboxSelect>>")
             self.see(index)
 
-    class ChatEntry(Entry):
-        """ Defines a text entry box where the instructor can type messages for Rosie
-            Also keeps track of the message history and supports Up/Down keys to navigate """
-        def __init__(self, parent):
-            Entry.__init__(self, parent, font=("Times", "16"), state="normal")
-            self.parent = parent
-
-            # self.bind('<Return>', lambda key: self.send_message())
-            # self.bind('<Up>', lambda key: self.scroll_history(-1))
-            # self.bind('<Down>', lambda key: self.scroll_history(1))
-
-            self.message_history = []
-            self.history_index = 0
-
-        def add_to_history(self, message):
-            if len(self.message_history) == 0 or self.message_history[-1] != message:
-                self.message_history.append(message)
-            self.history_index = len(self.message_history)
-
-        def scroll_history(self, delta):
-            """ change the index into the message history by delta (integer)
-                and set the message entry box to that message """
-            self.clear()
-            if delta < 0 and self.history_index + delta < 0:
-                self.history_index = 0
-            elif delta > 0 and self.history_index + delta >= len(self.message_history):
-                self.history_index = len(self.message_history)
-            else:
-                self.history_index += delta
-
-            if self.history_index < len(self.message_history):
-                self.insert(END, self.message_history[self.history_index])
-
-        def send_message(self):
-            self.parent.send_message_to_rosie(self.get().strip())
-            self.clear()
-
-        def clear(self):
-            self.delete(0, END)
-
-    #ToDo: We may not need a class for this switch unless we are literally running functions
-    class SwitchTextBoxes:
-        def __init__(self, parent):
-            self.parent = parent
 
     """ Creates a single chat box interface to send messages to Rosie and receive messages back """
     def __init__(self, rosie_client, master):
@@ -116,7 +74,7 @@ def __init__(self, rosie_client, master):
         self.create_widgets()
         self.setup_rosie_client()
 
-        master.geometry("1200x800")
+        master.geometry("1366x768")
         master.protocol("WM_DELETE_WINDOW", self.on_exit)
 
     def setup_rosie_client(self):
@@ -152,25 +110,29 @@ def create_parts_of_speech_lists(self):
         self.object_states_list = open(os.path.join(pos_folder_path, "object-states.txt")).read().splitlines()
         self.object_states_list = sorted(self.object_states_list)
 
-    def send_combined_message(self):
+    def send_combined_message(self, message_type):
     # maybe use the add_to_history function as a way to combine over time.
     ## ToDo - change font sizes back
         self.combined_message = ""
-        
-        if self.last_selected_option == 0:
-            for i in range(2,4):
-                self.combined_message += self.listbox_entries[0][i-2].get().strip() + " "
+
+        if message_type == "done":
+            self.combined_message += "You are done"
+        elif self.last_selected_option == 0:
+            self.combined_message += self.listbox_entries[0][0].get().strip() + " the " + self.listbox_entries[0][1].get().strip()
         elif self.last_selected_option == 1:
-            for i in range(2,6):
-                self.combined_message += self.listbox_entries[1][i-2].get().strip() + " "
+            self.combined_message += self.listbox_entries[1][0].get().strip() + " the "
+            for i in range(1,3):
+                self.combined_message += self.listbox_entries[1][i].get().strip() + " "
+            self.combined_message += "the " + self.listbox_entries[1][3].get().strip()
         elif self.last_selected_option == 2:
-            self.combined_message = "The goal is that "
-            for i in range(2,5):
-                self.combined_message += self.listbox_entries[2][i-2].get().strip() + " "
+            self.combined_message = "The goal is that the "
+            for i in range(0,3):
+                self.combined_message += self.listbox_entries[2][i].get().strip() + " "
         else:
-            self.combined_message = "The goal is that "
-            for i in range(2,6):
-                self.combined_message += self.listbox_entries[3][i-2].get().strip() + " "
+            self.combined_message = "The goal is that the "
+            for i in range(0,3):
+                self.combined_message += self.listbox_entries[3][i].get().strip() + " "
+            self.combined_message += "the " + self.listbox_entries[3][3].get().strip()
         
         self.combined_message = self.combined_message.strip() + "."    
         self.send_message_to_rosie(self.combined_message)
@@ -215,7 +177,19 @@ def show_selected_template_entries(self, selected_index):
             listbox_entry.grid()
         for label in self.listbox_entry_labels[selected_index]:
             label.grid()
-        
+    
+    """Function to enable selected input template and disable the last selected template"""
+    def enable_template_input(self, selected_index):
+        if self.last_selected_option != -1:
+            for listbox_t in self.listbox_entries[self.last_selected_option]:
+                listbox_t.clear()
+                listbox_t.grid_remove()
+            for label in self.listbox_entry_labels[self.last_selected_option]:
+                label.grid_remove()
+        self.last_selected_option = selected_index
+        self.show_selected_template_entries(selected_index)
+ 
+    
     def create_widgets(self):
         # ToDo: A way to clean up this code may be to get all the grid statements together and function statements(lambda etc) in another batch
         # https://tkdocs.com/tutorial/grid.html
@@ -232,10 +206,10 @@ def create_widgets(self):
         self.columnconfigure(5, weight=1, minsize=150)
         self.rowconfigure(0, weight=1, minsize=25)
         self.rowconfigure(1, weight=20, minsize=300)
-        self.rowconfigure(2, weight=1, minsize=30)
+        self.rowconfigure(2, weight=2, minsize=50)
+        self.rowconfigure(3, weight=2, minsize=50)
 
         # Action Templates 1 and 2
-        self.rowconfigure(3, weight=2, minsize=30)
         self.rowconfigure(4, weight=2, minsize=30)
         self.rowconfigure(5, weight=2, minsize=30)
 
@@ -245,6 +219,7 @@ def create_widgets(self):
         self.rowconfigure(8, weight=2, minsize=30)
 
         self.rowconfigure(9, weight=1, minsize=30)
+        self.rowconfigure(10, weight=1, minsize=30)
 
 
         # Row 0: Top row of buttons for running Rosie
@@ -268,168 +243,183 @@ def create_widgets(self):
         # self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
         # self.script_list.grid(row=1, column=4, columnspan=4, sticky=N+S+E+W)
 
-
-        # Row 2: OptionMenu dropbox to select different template entry boxes (Col 0-2)
-        self.last_selected_option = -1
         
-        def callback(*args):            
-            # Clear the textboxes from the last selected option
-            if self.last_selected_option != -1:
-                for listbox_t in self.listbox_entries[self.last_selected_option]:
-                    listbox_t.clear()
-                    listbox_t.grid_remove()
-                for label in self.listbox_entry_labels[self.last_selected_option]:
-                    label.grid_remove()
-
-            selected_index = options.index(selected_option.get().strip())
-            self.last_selected_option = selected_index
-            self.show_selected_template_entries(selected_index)
-    
-        #Set the Menu initially
-        selected_option = StringVar(value="Select Any Template Input")
-        selected_option.trace("w", callback)
-    
-        options = ["Action Template 1", 
-                   "Action Template 2", 
-                   "Goal Template 1", 
-                   "Goal Template 2"]
-      
-        self.template_optionsmenu = OptionMenu(self, selected_option, *options)
-        self.template_optionsmenu.grid(row=2, column=0, columnspan=2, sticky=N+S+E+W)
-        self.template_optionsmenu.config(font=("Arial", "14"))
-        self.template_optionsmenu["menu"].config(font=("Arial", "14"))
+        # Row 2: Buttons to enable/disable template inputs (Col 1-4)
+        self.last_selected_option = -1
 
+        self.enable_at1_button = Button(self, text="Ask robot to do something:\n Action + Object\n\"Turn on the alarm\"", font=("Times", "15"), padx=10)
+        self.enable_at1_button["command"] = lambda: self.enable_template_input(0)
+        self.enable_at1_button.grid(row=2, column=0, rowspan=2, sticky=N+S+E+W)
+
+        self.enable_at2_button = Button(self, text="Ask robot to do something:\n Action + Object1 + Prep + Object2\n\"Fetch the coffee from the kitchen\"", font=("Times", "15"), padx=10)
+        self.enable_at2_button["command"] = lambda: self.enable_template_input(1)
+        self.enable_at2_button.grid(row=2, column=1, rowspan=2, columnspan=2, sticky=N+S+E+W)
+ 
+        self.enable_gt1_button = Button(self, text="Provide desired world state\nfor robot to achieve:\nObject + Linking-verb + Object State\n\"The alarm is on\"", font=("Times", "15"), padx=10)
+        self.enable_gt1_button["command"] = lambda: self.enable_template_input(2)
+        self.enable_gt1_button.grid(row=2, column=3, rowspan=2, sticky=N+S+E+W)
+ 
+        self.enable_gt2_button = Button(self, text="Provide desired world state\nfor robot to achieve:\n Object1 + Linking-verb + Prep + Object2\n\"The extinguisher is in the office\"", font=("Times", "15"), padx=10)
+        self.enable_gt2_button["command"] = lambda: self.enable_template_input(3)
+        self.enable_gt2_button.grid(row=2, column=4, rowspan=2, columnspan=2, sticky=N+S+E+W)
+        
 
         # Row 3-8: Action and Goal Template Labels and Text Entries 
 
         # Row 3-4: Action Template 1 Labels (Col 0-1)
         action_template1_label_list = []
-        label1_et1 = Label(self, text="Verb", font=("Times", "14"))
-        label1_et1.grid(row=3, column=0, columnspan=1)
+        label1_et1 = Label(self, text="Action", font=("Times", "14"))
+        label1_et1.grid(row=5, column=0, columnspan=1)
         label1_et2 = Label(self, text="Turn on", font=("Times", "15", "italic"))
-        label1_et2.grid(row=4, column=0, columnspan=1)
-        label1_et3 = Label(self, text="Noun Phrase", font=("Times", "14"))
-        label1_et3.grid(row=3, column=1, columnspan=1)
-        label1_et4 = Label(self, text="the alarm", font=("Times", "15", "italic"))
-        label1_et4.grid(row=4, column=1, columnspan=1)
-        action_template1_label_list.extend([label1_et1,label1_et2,label1_et3,label1_et4])
+        label1_et2.grid(row=6, column=0, columnspan=1)
+        label1_et3 = Label(self, text="Object", font=("Times", "14"))
+        label1_et3.grid(row=5, column=2, columnspan=1)
+        label1_et4 = Label(self, text="alarm", font=("Times", "15", "italic"))
+        label1_et4.grid(row=6, column=2, columnspan=1)
+        
+        # Default "the" labels
+        label1_et5 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
+        label1_et5.grid(row=7, column=1, columnspan=1)
+        action_template1_label_list.extend([label1_et1,label1_et2,label1_et3,label1_et4,label1_et5])
         self.listbox_entry_labels.append(action_template1_label_list)
 
         # Row 5: Action Template 1 Text Input (Col 0-1)
         action_template1_list = []
-        for i in range(0,2):
-            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-            listbox_entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
-            
-            action_template1_list.append(listbox_entry)
+        for i in range(0,3):
+            if i==1:
+                continue
+            else:
+                listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+                listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+
+                action_template1_list.append(listbox_entry)
         self.listbox_entries.append(action_template1_list)
 
         
         # Row 3-4: Action Template 2 Labels (Col 0-3)
         action_template2_label_list = []
-        label2_et1 = Label(self, text="Verb", font=("Times", "14"))
-        label2_et1.grid(row=3, column=0, columnspan=1)
+        label2_et1 = Label(self, text="Action", font=("Times", "14"))
+        label2_et1.grid(row=5, column=0, columnspan=1)
         label2_et2 = Label(self, text="Fetch", font=("Times", "15", "italic"))
-        label2_et2.grid(row=4, column=0, columnspan=1)
-        label2_et3 = Label(self, text="Noun Phrase", font=("Times", "14"))
-        label2_et3.grid(row=3, column=1, columnspan=1)
-        label2_et4 = Label(self, text="an extinguisher", font=("Times", "15", "italic"))
-        label2_et4.grid(row=4, column=1, columnspan=1)
+        label2_et2.grid(row=6, column=0, columnspan=1)
+        label2_et3 = Label(self, text="Object1", font=("Times", "14"))
+        label2_et3.grid(row=5, column=2, columnspan=1)
+        label2_et4 = Label(self, text="coffee", font=("Times", "15", "italic"))
+        label2_et4.grid(row=6, column=2, columnspan=1)
         label2_et5 = Label(self, text="Preposition", font=("Times", "14"))
-        label2_et5.grid(row=3, column=2, columnspan=1)
+        label2_et5.grid(row=5, column=3, columnspan=1)
         label2_et6 = Label(self, text="from", font=("Times", "15", "italic"))
-        label2_et6.grid(row=4, column=2, columnspan=1)
-        label2_et7 = Label(self, text="Noun Phrase", font=("Times", "14"))
-        label2_et7.grid(row=3, column=3, columnspan=1)
-        label2_et8 = Label(self, text="the supply room", font=("Times", "15", "italic"))
-        label2_et8.grid(row=4, column=3, columnspan=1)
-        action_template2_label_list.extend([label2_et1,label2_et2,label2_et3,label2_et4,label2_et5,label2_et6,label2_et7,label2_et8])
+        label2_et6.grid(row=6, column=3, columnspan=1)
+        label2_et7 = Label(self, text="Object2", font=("Times", "14"))
+        label2_et7.grid(row=5, column=5, columnspan=1)
+        label2_et8 = Label(self, text="kitchen", font=("Times", "15", "italic"))
+        label2_et8.grid(row=6, column=5, columnspan=1)
+        
+         # Default "the" labels
+        label2_et9 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
+        label2_et9.grid(row=7, column=1, columnspan=1)
+        label2_et10 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
+        label2_et10.grid(row=7, column=4, columnspan=1)
+        for i in range(1,11):
+            action_template2_label_list.append(locals()["label2_et" + str(i)])
         self.listbox_entry_labels.append(action_template2_label_list)
         
         # Row 5: Action Template 2 Text Input (Col 0-3)
         action_template2_list = []
-        for i in range(0,4):
-            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-            listbox_entry.grid(row=5, column=i, columnspan=1, sticky=N+S+E+W)
-
-            action_template2_list.append(listbox_entry)        
+        for i in range(0,6):
+            if i in (1,4):
+                continue
+            else:
+                listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+                listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+                action_template2_list.append(listbox_entry)        
         self.listbox_entries.append(action_template2_list)
 
 
         # Row 6-8: Goal Template 1
         goal_template1_label_list = []
         # Goal Template 1 - Chat Entry Default Label
-        goal_label1_et1 = Label(self, text="The goal is that", font=("Times", "15"))
-        goal_label1_et1.grid(row=8, column=0, columnspan=1)
+        goal_label1_et1 = Label(self, text="The goal is that the\n\n\n\n\n", font=("Times", "15"))
+        goal_label1_et1.grid(row=7, column=0, columnspan=1)
+
         # Goal Template 1 Labels (Col 1-3)
-        goal_label1_et2 = Label(self, text="Noun Phrase", font=("Times", "14"))
-        goal_label1_et2.grid(row=6, column=1, columnspan=1)
-        goal_label1_et3 = Label(self, text="the alarm", font=("Times", "15", "italic"))
-        goal_label1_et3.grid(row=7, column=1, columnspan=1)
-        goal_label1_et4 = Label(self, text="Verb", font=("Times", "14"))
-        goal_label1_et4.grid(row=6, column=2, columnspan=1)
+        goal_label1_et2 = Label(self, text="Object", font=("Times", "14"))
+        goal_label1_et2.grid(row=5, column=1, columnspan=1)
+        goal_label1_et3 = Label(self, text="alarm", font=("Times", "15", "italic"))
+        goal_label1_et3.grid(row=6, column=1, columnspan=1)
+        goal_label1_et4 = Label(self, text="Linking-verb", font=("Times", "14"))
+        goal_label1_et4.grid(row=5, column=2, columnspan=1)
         goal_label1_et5 = Label(self, text="is", font=("Times", "15", "italic"))
-        goal_label1_et5.grid(row=7, column=2, columnspan=1)
+        goal_label1_et5.grid(row=6, column=2, columnspan=1)
         goal_label1_et6 = Label(self, text="Object State", font=("Times", "14"))
-        goal_label1_et6.grid(row=6, column=3, columnspan=1)
+        goal_label1_et6.grid(row=5, column=3, columnspan=1)
         goal_label1_et7 = Label(self, text="on", font=("Times", "15", "italic"))
-        goal_label1_et7.grid(row=7, column=3, columnspan=1)
+        goal_label1_et7.grid(row=6, column=3, columnspan=1)
         
-        goal_template1_label_list.extend([goal_label1_et1,goal_label1_et2,goal_label1_et3,goal_label1_et4,goal_label1_et5,goal_label1_et6,goal_label1_et7])
+        for i in range(1,8):
+            goal_template1_label_list.append(locals()["goal_label1_et" + str(i)])
         self.listbox_entry_labels.append(goal_template1_label_list)
 
         # Row 8: Goal Template 1 Text Input (Col 1-3)
         goal_template1_list = []
         for i in range(1,4):
             listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-            listbox_entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
-
+            listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
             goal_template1_list.append(listbox_entry)
         self.listbox_entries.append(goal_template1_list)  
 
 
         # Row 6-8: Goal Template 2
         goal_template2_label_list = []
-        # Goal Template 2 - Chat Entry Default Label
-        goal_label2_et1 = Label(self, text="The goal is that", font=("Times", "15"))
-        goal_label2_et1.grid(row=8, column=0, columnspan=1)
+        # Goal Template 2 - Chat Entry Default Labels
+        goal_label2_et1 = Label(self, text="The goal is that the\n\n\n\n\n", font=("Times", "15"))
+        goal_label2_et1.grid(row=7, column=0, columnspan=1)        
+        goal_label2_et2 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
+        goal_label2_et2.grid(row=7, column=4, columnspan=1)
+
         # Goal Template 2 Labels (Col 1-3)
-        goal_label2_et2 = Label(self, text="Noun Phrase", font=("Times", "14"))
-        goal_label2_et2.grid(row=6, column=1, columnspan=1)
-        goal_label2_et3 = Label(self, text="the extinguisher", font=("Times", "15", "italic"))
-        goal_label2_et3.grid(row=7, column=1, columnspan=1)
-        goal_label2_et4 = Label(self, text="Verb", font=("Times", "14"))
-        goal_label2_et4.grid(row=6, column=2, columnspan=1)
-        goal_label2_et5 = Label(self, text="is", font=("Times", "15", "italic"))
-        goal_label2_et5.grid(row=7, column=2, columnspan=1)
-        goal_label2_et6 = Label(self, text="Preposition", font=("Times", "14"))
-        goal_label2_et6.grid(row=6, column=3, columnspan=1)
-        goal_label2_et7 = Label(self, text="in", font=("Times", "15", "italic"))
-        goal_label2_et7.grid(row=7, column=3, columnspan=1)
-        goal_label2_et8 = Label(self, text="Noun Phrase", font=("Times", "14"))
-        goal_label2_et8.grid(row=6, column=4, columnspan=1)
-        goal_label2_et9 = Label(self, text="the sentry-post", font=("Times", "15", "italic"))
-        goal_label2_et9.grid(row=7, column=4, columnspan=1)
-
-        goal_template2_label_list.extend([goal_label2_et1,goal_label2_et2,goal_label2_et3,goal_label2_et4,goal_label2_et5,
-                                          goal_label2_et6,goal_label2_et7,goal_label2_et8,goal_label2_et9])
+        goal_label2_et3 = Label(self, text="Object1", font=("Times", "14"))
+        goal_label2_et3.grid(row=5, column=1, columnspan=1)
+        goal_label2_et4 = Label(self, text="extinguisher", font=("Times", "15", "italic"))
+        goal_label2_et4.grid(row=6, column=1, columnspan=1)
+        goal_label2_et5 = Label(self, text="Linking-verb", font=("Times", "14"))
+        goal_label2_et5.grid(row=5, column=2, columnspan=1)
+        goal_label2_et6 = Label(self, text="is", font=("Times", "15", "italic"))
+        goal_label2_et6.grid(row=6, column=2, columnspan=1)
+        goal_label2_et7 = Label(self, text="Preposition", font=("Times", "14"))
+        goal_label2_et7.grid(row=5, column=3, columnspan=1)
+        goal_label2_et8 = Label(self, text="in", font=("Times", "15", "italic"))
+        goal_label2_et8.grid(row=6, column=3, columnspan=1)
+        goal_label2_et9 = Label(self, text="Object2", font=("Times", "14"))
+        goal_label2_et9.grid(row=5, column=5, columnspan=1)
+        goal_label2_et10 = Label(self, text="office", font=("Times", "15", "italic"))
+        goal_label2_et10.grid(row=6, column=5, columnspan=1)
+        
+        for i in range(1,11):
+            goal_template2_label_list.append(locals()["goal_label2_et" + str(i)])
         self.listbox_entry_labels.append(goal_template2_label_list)
 
         # Row 8: Goal Template 2 Text Input (Col 1-4)
         goal_template2_list = []    
-        for i in range(1,5): 
-            listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-            listbox_entry.grid(row=8, column=i, columnspan=1, sticky=N+S+E+W)
-
-            goal_template2_list.append(listbox_entry)
+        for i in range(1,6):
+            if i==4:
+                continue
+            else:
+                listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
+                listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+                goal_template2_list.append(listbox_entry)
         self.listbox_entries.append(goal_template2_list)
+
         
-        
-        # Row 9: Send Button (Col 5)
+        # Row 9: "You are done" message (Col 0) and Send Button (Col 5)
         # ToDo: enter check for all chat entries being populated with text
+        self.task_done_button = Button(self, text="You are done", font=("Times", "18"))
+        self.task_done_button["command"] = lambda: self.send_combined_message("done")
+        self.task_done_button.grid(row=9, column=0, rowspan=2, sticky=N+S+E+W)
+        
         self.submit_button = Button(self, text="Send", font=("Times", "18"))
-        self.submit_button["command"] = lambda: self.send_combined_message()
-        self.submit_button.grid(row=9, column=5, sticky=N+S+E+W)
+        self.submit_button["command"] = lambda: self.send_combined_message("")
+        self.submit_button.grid(row=9, column=5, rowspan=2, sticky=N+S+E+W)
         
         # Populate all the listboxes with individual POS lists
         self.populate_template_listboxes()       
diff --git a/python/rosie/parts-of-speech-lists/nouns-extended.txt b/python/rosie/parts-of-speech-lists/nouns-extended.txt
new file mode 100644
index 0000000000..e14ccd7117
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/nouns-extended.txt
@@ -0,0 +1,37 @@
+table
+plate
+ketchup
+light switch
+fridge
+garbage
+stove
+sink
+counter
+desk
+bench
+workbench
+worktable
+surface
+saucer
+dish
+sauce
+spice
+condiment
+seasoning
+switch
+light
+chiller
+refrigerator
+cooler
+ice box
+cold storage
+trash can
+trash bin
+garbage bin
+waste
+refuse
+junk
+litter
+range
+kitchen
+room
diff --git a/python/rosie/parts-of-speech-lists/nouns.txt b/python/rosie/parts-of-speech-lists/nouns.txt
index f2dc37360c..ede8983105 100644
--- a/python/rosie/parts-of-speech-lists/nouns.txt
+++ b/python/rosie/parts-of-speech-lists/nouns.txt
@@ -1,32 +1,11 @@
 table
 plate
 ketchup
-light switch
+lightswitch
 fridge
 garbage
 stove
 sink
 counter
-desk
-bench
-workbench
-worktable
-surface
-saucer
-dish
-sauce
-spice
-condiment
-seasoning
-switch
-light
-chiller
-refrigerator
-cooler
-ice box
-cold storage
-waste
-refuse
-junk
-litter
-range
\ No newline at end of file
+kitchen
+messhall
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/object-states-extended.txt b/python/rosie/parts-of-speech-lists/object-states-extended.txt
new file mode 100644
index 0000000000..fb8892924f
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/object-states-extended.txt
@@ -0,0 +1,16 @@
+available
+clear
+closed
+connected
+covered
+empty
+filled
+free
+full
+locked
+moved
+off
+on
+open
+present
+visible
diff --git a/python/rosie/parts-of-speech-lists/object-states.txt b/python/rosie/parts-of-speech-lists/object-states.txt
index c4bbcbce48..0028a8e3ee 100644
--- a/python/rosie/parts-of-speech-lists/object-states.txt
+++ b/python/rosie/parts-of-speech-lists/object-states.txt
@@ -7,9 +7,6 @@ available
 filled
 free
 full
-covered
-moved
 clear
-connected
-locked
 present
+visible
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/prepositions-extended.txt b/python/rosie/parts-of-speech-lists/prepositions-extended.txt
new file mode 100644
index 0000000000..d9cf4c8b4b
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/prepositions-extended.txt
@@ -0,0 +1,54 @@
+aboard
+about
+above
+across
+after
+against
+along
+amid
+among
+around
+at
+atop
+before
+behind
+below
+beneath
+beside
+between
+by
+down
+during
+except
+for
+from
+in
+in front of
+inside
+into
+like
+near
+next to
+of
+off
+on
+onto
+opposite
+out of
+over
+past
+since
+through
+throughout
+to
+toward
+under
+underneath
+until
+unto
+up
+upon
+while
+with
+within
+without
diff --git a/python/rosie/parts-of-speech-lists/prepositions.txt b/python/rosie/parts-of-speech-lists/prepositions.txt
index 6a2f89eda9..bd688fed69 100644
--- a/python/rosie/parts-of-speech-lists/prepositions.txt
+++ b/python/rosie/parts-of-speech-lists/prepositions.txt
@@ -1,54 +1,30 @@
-aboard
-about
+at
 above
-across
 after
-against
-along
-amid
-among
 around
-at
 before
 behind
 below
 beneath
-beside
-between
-by
 down
-during
-for
 from
 in
 into
-like
-near
 of
 off
 on
 onto
 over
-past
-through
-throughout
 to
 toward
 under
 underneath
-until
-unto
 up
 upon
 with
 within
 without
 atop
-except
 in front of
 inside
-next to
-opposite
-since
-while
-out of
+next to
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/verbs-extended.txt b/python/rosie/parts-of-speech-lists/verbs-extended.txt
new file mode 100644
index 0000000000..9b168eaeef
--- /dev/null
+++ b/python/rosie/parts-of-speech-lists/verbs-extended.txt
@@ -0,0 +1,167 @@
+advance
+approach
+ask
+attack
+attend
+avoid
+bring
+build
+calculate
+carry
+check
+choose
+clean
+close
+compare
+complete
+consider
+continue
+cook
+count
+create
+decide
+delay
+deliver
+describe
+determine
+develop
+discard
+discover
+distribute
+do
+drive
+drop
+enable
+ensure
+enter
+examine
+expand
+explain
+explore
+extend
+face
+fetch
+fill
+find
+finish
+flip off
+flip on
+fold
+follow
+forget
+generate
+get
+give
+go to
+grab
+guard
+guide
+heat
+hold
+identify
+ignore
+illustrate
+include
+incorporate
+indicate
+inform
+inspect
+install
+interrupt
+introduce
+investigate
+involve
+keep
+lead
+lean on
+learn
+leave
+lend
+lift down
+lift up
+listen to
+load
+lock
+look at
+look down
+look up
+maintain
+make
+manage
+measure
+meet
+mention
+monitor
+move
+observe
+obtain
+open
+organize
+orient
+patrol
+perform
+pick up
+place
+plan
+play
+point
+possess
+pour
+practice
+prefer
+prepare
+press
+prevent
+proceed
+pull
+pursue
+push
+put down
+quit
+raise
+read
+recall
+receive
+recite
+refrigerate
+remember
+remind
+remove
+repair
+repeat
+replace
+require
+reset
+ring
+say
+scan
+see
+send
+sense
+serve
+set
+show
+shut
+skip
+specify
+stack
+stand
+start
+stop
+store
+submit
+supply
+take
+talk to
+teach
+tear
+tell
+throw
+turn
+turn off
+turn on
+unlock
+use
+view
+wait
+watch
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/verbs.txt b/python/rosie/parts-of-speech-lists/verbs.txt
index 950b2af51e..0b7265430a 100644
--- a/python/rosie/parts-of-speech-lists/verbs.txt
+++ b/python/rosie/parts-of-speech-lists/verbs.txt
@@ -1,178 +1,35 @@
-pick up
-put down
-turn on
-turn off
-go to
-scan
-close
-give
-open
-pour
-press
-use
-approach
-drive
-face
-orient
-stop
-turn
-explore
-find
-view
-ask
-describe
-say
-recall
-remember
-wait
-use
-remove
-reset
-flip on
-flip off
-lock
-unlock
-move
-store
-discard
+APPROACH
+bring
+carry
+clean
+clear
+CLOSE
 deliver
+DRIVE
+empty
+FACE
 fetch
-take
-guide
-stack
-tell
-bring
-cook
-set
-throw
-organize
-patrol
-refrigerate
-lead
-drive
-recite
-heat
-guard
-raise
+FIND
+get
+GIVE
+GO TO
+grab
 inspect
 keep
-monitor
-observe
-continue
-complete
-skip
-interrupt
-finish
-ensure
-place
-turn
-follow
-orient
-stop
-explore
-advance
-look up
-look down
-lift up
-lift down
-describe
-sense
-check
-repeat
-attend
-ignore
-fill
-avoid
-prefer
-attack
-load
-consider
-perform
-serve
-clean
-build
-calculate
-carry
-choose
-compare
-count
-create
-decide
-delay
-determine
-develop
-discover
-distribute
-do
-drop
-enable
-enter
-examine
-expand
-explain
-extend
-fold
-forget
-generate
-get
-hold
-identify
-illustrate
-include
-incorporate
-indicate
-inform
-install
-introduce
-investigate
-involve
-lean on
-learn
-leave
-lend
-listen to
-look at
-maintain
-make
-manage
-measure
-meet
-mention
-obtain
-plan
-play
-point
-possess
-practice
-prepare
-prevent
-proceed
-pull
-pursue
-push
-get from
-put in
-put on
-quit
-read
-receive
-remind
-repair
-replace
-require
-ring
-see
-send
-show
+move
+OPEN
+PICK UP
+POUR
+PRESS
+PUT DOWN
+refrigerate
+SCAN
 shut
-specify
-stand
 start
-submit
-supply
-talk to
-teach
-tear
-wait
-watch
-grab
\ No newline at end of file
+STOP
+store
+take
+TURN
+TURN OFF
+TURN ON
+USE
\ No newline at end of file

From 9389e4d846153e3362646aaf8630451f82d11cde Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Sun, 11 Dec 2022 12:49:02 -0500
Subject: [PATCH 19/34] Changes to interior-guard

Moved old interior-guard to interior-guard-old
Current interior guard uses run_rosie_example template
---
 examples/interior-guard-old/Makefile          |    61 +
 .../README                                    |     0
 .../__main__.py                               |     0
 .../agent.config                              |     4 +-
 .../debug.txt                                 |     0
 .../interior-guard-old/extra-smem-adds.soar   |   566 +
 .../interior-guard-old/extra-soar-rules.soar  |   290 +
 examples/interior-guard-old/fetch-chunks.soar |  4153 +++++
 examples/interior-guard-old/final-chunks.txt  | 14698 ++++++++++++++++
 .../full-training-chunks.soar                 | 14348 +++++++++++++++
 .../interior-guard-old.world                  |  1451 ++
 .../interior-guard-old/internal-world.soar    |   158 +
 .../p20201202_084229_573.png                  |   Bin
 examples/interior-guard-old/script.txt        |   166 +
 examples/interior-guard-old/smem-config.txt   |    57 +
 .../testing.txt                               |     0
 .../training-tcns.txt                         |     0
 examples/interior-guard-old/waypoint-map.soar |   150 +
 examples/interior-guard-old/world.info        |   200 +
 examples/interior-guard/Makefile              |    56 +-
 examples/interior-guard/extra-soar-rules.soar |     2 +-
 examples/interior-guard/script.txt            |     2 +-
 examples/interior-guard/smem-config.txt       |    10 +-
 examples/interior-guard/world.info            |     5 +-
 24 files changed, 36349 insertions(+), 28 deletions(-)
 create mode 100644 examples/interior-guard-old/Makefile
 rename examples/{interior-guard => interior-guard-old}/README (100%)
 rename examples/{interior-guard => interior-guard-old}/__main__.py (100%)
 rename examples/{interior-guard => interior-guard-old}/agent.config (98%)
 rename examples/{interior-guard => interior-guard-old}/debug.txt (100%)
 create mode 100644 examples/interior-guard-old/extra-smem-adds.soar
 create mode 100644 examples/interior-guard-old/extra-soar-rules.soar
 create mode 100644 examples/interior-guard-old/fetch-chunks.soar
 create mode 100644 examples/interior-guard-old/final-chunks.txt
 create mode 100644 examples/interior-guard-old/full-training-chunks.soar
 create mode 100644 examples/interior-guard-old/interior-guard-old.world
 create mode 100644 examples/interior-guard-old/internal-world.soar
 rename examples/{interior-guard => interior-guard-old}/p20201202_084229_573.png (100%)
 create mode 100644 examples/interior-guard-old/script.txt
 create mode 100644 examples/interior-guard-old/smem-config.txt
 rename examples/{interior-guard => interior-guard-old}/testing.txt (100%)
 rename examples/{interior-guard => interior-guard-old}/training-tcns.txt (100%)
 create mode 100644 examples/interior-guard-old/waypoint-map.soar
 create mode 100644 examples/interior-guard-old/world.info

diff --git a/examples/interior-guard-old/Makefile b/examples/interior-guard-old/Makefile
new file mode 100644
index 0000000000..9e340f26cc
--- /dev/null
+++ b/examples/interior-guard-old/Makefile
@@ -0,0 +1,61 @@
+AGENT_NAME=interior-guard-old
+
+ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
+
+all: world ${ROSIE_CONFIG}
+
+
+# Launches both the simulator and the test chat panel
+run_example: run_mobile_sim run_rosie
+
+run_evaluation: run_mobile_sim run_rosie
+
+run_mobile_sim: ${AGENT_NAME}.world
+	mkdir -p output
+	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
+
+run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
+	mkdir -p output
+	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
+
+run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
+	mkdir -p output
+	python3 -m rosie.evaluation.${AGENT_NAME} --test
+	echo "########### DIFF ##########"
+	diff output/test-output.txt correct-output.txt
+
+
+# agent/rosie.interior-guard.config: Configures the rosie soar agent that will be sourced to run
+${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
+
+
+#### Generating World/Map Files
+
+world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
+
+# ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
+${AGENT_NAME}.world: world.info
+	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
+
+# The internal world used during simulation
+internal-world.soar: world.info
+	python3 -m rosie.tools.mapmaker world.info --internal --output-dir .
+
+# The connected waypoint map
+waypoint-map.soar: world.info
+	python3 -m rosie.tools.mapmaker world.info --map --output-dir .
+
+
+#### Clean all files
+
+clean:
+	rm -rf agent
+	rm -rf output
+	rm -rf __pycache__
+	rm -f ${AGENT_NAME}.world
+	rm -f waypoint-map.soar
+	rm -f internal-world.soar
+
+
+
diff --git a/examples/interior-guard/README b/examples/interior-guard-old/README
similarity index 100%
rename from examples/interior-guard/README
rename to examples/interior-guard-old/README
diff --git a/examples/interior-guard/__main__.py b/examples/interior-guard-old/__main__.py
similarity index 100%
rename from examples/interior-guard/__main__.py
rename to examples/interior-guard-old/__main__.py
diff --git a/examples/interior-guard/agent.config b/examples/interior-guard-old/agent.config
similarity index 98%
rename from examples/interior-guard/agent.config
rename to examples/interior-guard-old/agent.config
index 36d07b0046..a31207f115 100644
--- a/examples/interior-guard/agent.config
+++ b/examples/interior-guard-old/agent.config
@@ -3,7 +3,7 @@
 #   OPTIONAL: default is the name of the config file (minus extension)
 # The name of the agent, used to identify other config files in the directory
 
-agent-name = interior-guard
+agent-name = interior-guard-old
 
 
 ####
@@ -120,7 +120,7 @@ custom-smem-file = extra-smem-adds.soar
 # Other Settings
 # Any additional settings here will be put into the autogenerated rosie.config file
 
-spawn-debugger = false
+spawn-debugger = true
 
 enable-log = true
 log-filename = output/interior-guard.log
diff --git a/examples/interior-guard/debug.txt b/examples/interior-guard-old/debug.txt
similarity index 100%
rename from examples/interior-guard/debug.txt
rename to examples/interior-guard-old/debug.txt
diff --git a/examples/interior-guard-old/extra-smem-adds.soar b/examples/interior-guard-old/extra-smem-adds.soar
new file mode 100644
index 0000000000..c2372d0f92
--- /dev/null
+++ b/examples/interior-guard-old/extra-smem-adds.soar
@@ -0,0 +1,566 @@
+#	# Alice
+#	(<alice> ^handle person-alice1 ^object-instance true ^item-type object
+#		^category person ^name alice1 ^room1 <kit>)
+#		
+#	# Bob
+#	(<bob> ^handle person-bob1 ^object-instance true ^item-type object
+#		^category person ^name bob1 ^room1 <soar>)
+#		
+#	# Charlie
+#	(<charlie> ^handle person-charlie1 ^object-instance true ^item-type object
+#		^category person ^name charlie1 ^room1 <conf>)
+#}
+smem --add {
+	# Quarters
+	(<quar> ^handle loc-quarters1 ^object-instance true ^item-type object ^waypoint wp01
+		^category entity1 location room1 ^name quarters1 ^root-category room1)
+
+	# CO Office
+	(<off> ^handle loc-cooffice1 ^object-instance true ^item-type object ^waypoint wp02
+		^category entity1 location room1 office1 ^root-category office1 ^possessive cos1 ^owner co1)
+
+	# Messhall
+	(<mess> ^handle loc-messhall1 ^object-instance true ^item-type object ^waypoint wp04
+		^category entity1 location room1 ^name messhall1 ^root-category room1)
+
+#	# Kitchen
+#	(<kit> ^handle loc-kitchen1 ^object-instance true ^item-type object ^waypoint wp05
+#		^category entity1 location room1 kitchen1 ^root-category kitchen1)
+
+	# Supply
+	(<supp> ^handle loc-supply1 ^object-instance true ^item-type object ^waypoint wp07
+		^category entity1 location room1 ^root-category room1 ^modifier1 supply1)
+
+	# Armory
+	(<arm> ^handle loc-armory1 ^object-instance true ^item-type object ^waypoint wp09
+		^category entity1 location room1 ^name armory1 ^root-category room1)
+
+	# Motor Pool
+	(<moto> ^handle loc-motorpool1 ^object-instance true ^item-type object ^waypoint wp08
+		^category entity1 location room1 ^name motorpool1 ^root-category room1)
+
+	# East Sentry Post
+	(<east-sentry> ^handle loc-eastpost1 ^object-instance true ^item-type object ^waypoint wp03
+		^category entity1 location room1 post1 ^root-category post1 ^cardinal-direction1 east1)
+
+	# West Sentry Post
+	(<west-sentry> ^handle loc-westpost1 ^object-instance true ^item-type object ^waypoint wp06
+		^category entity1 location room1 post1 ^root-category post1 ^cardinal-direction1 west1)
+
+	# West Hallway
+	(<west-hall> ^handle loc-westhall1 ^object-instance true ^item-type object ^waypoint wp10
+		^category entity1 location hall1 ^root-category hall1 ^cardinal-direction1 west1)
+
+	# East Hallway
+	(<east-hall> ^handle loc-easthall1 ^object-instance true ^item-type object ^waypoint wp18
+		^category entity1 location hall1 ^root-category hall1 ^cardinal-direction1 east1)
+
+	# CO
+	(<co> ^handle person-co1 ^object-instance true ^item-type object
+		^category entity1 person officer1 ^root-category officer1 ^name co1 ^modifier1 commanding1)
+		
+	# Williams
+	(<will> ^handle person-williams1 ^object-instance true ^item-type object
+		^category entity1 person officer1 ^root-category officer1 ^name williams1)
+
+  (<williams> ^spelling-single-word |williams|
+        ^structure-type CP
+        ^message-type williams)
+		
+	# Mercer
+	(<mercer> ^handle person-mercer1 ^object-instance true ^item-type object
+		^category entity1 person officer1 ^root-category officer1 ^name mercer1)
+
+  (<mercer-word> ^spelling-single-word |mercer|
+        ^structure-type CP
+        ^message-type mercer)
+
+}
+
+smem --add {
+(@ensure1 ^goal-graph <LTI999040> ^handle ensure1 ^procedural <LTI999035>)
+  (<LTI999035> ^arg1 <LTI999037> ^arg2 <LTI999036> ^op_name op_ensure115 ^subtasks <LTI999053>)
+  (<LTI999040> ^handle ensure1start16 ^item-type start-goal ^next <LTI999045> <LTI999052>)
+    (<LTI999036> ^arg-type concept ^id <LTI999039>)
+    (<LTI999037> ^arg-type object ^id <LTI999038>)
+    (<LTI999053> ^subtask <LTI999054> <LTI999065> <LTI999072> <LTI999079> <LTI999086> <LTI999093>)
+    (<LTI999045> ^conditions <LTI999046> ^goal <LTI999044> ^learned proposal)
+    (<LTI999052> ^goal <LTI999050> ^learned proposal)
+      (<LTI999054> ^arg1 <LTI999055> ^arg2 <LTI999056> ^handle subtask22 ^modifiers <LTI999057> ^op_name op_remember1 ^subgoal-specific ensure1goal23 ^task-handle remember1)
+      (<LTI999065> ^arg1 <LTI999066> ^handle subtask26 ^op_name op_find1 ^subgoal-specific ensure1goal27 ^task-handle find1)
+      (<LTI999072> ^arg1 <LTI999073> ^handle subtask32 ^op_name op_describe1 ^subgoal-specific ensure1goal33 ^task-handle describe1)
+      (<LTI999079> ^arg1 <LTI999080> ^handle subtask38 ^op_name op_say1 ^subgoal-specific ensure1goal39 ^task-handle say1)
+      (<LTI999086> ^arg1 <LTI999087> ^handle subtask41 ^op_name op_describe1 ^subgoal-specific ensure1goal42 ^task-handle describe1)
+      (<LTI999093> ^arg2 <LTI999094> ^handle subtask44 ^op_name op_go-to-location1 ^subgoal-specific ensure1goal45 ^task-handle go-to-location1)
+      (<LTI999044> ^handle ensure1term19 ^item-type terminal-goal)
+      (<LTI999046> ^1 <LTI999047> ^pred-count 1)
+      (<LTI999050> ^1 <LTI999051> ^handle ensure1goal23 ^item-type task-goal ^next <LTI999064> ^pred-count 1)
+        (<LTI999055> ^arg-type object ^id <LTI999059>)
+        (<LTI999056> ^arg-type object ^id <LTI999058>)
+        (<LTI999057> ^arg-type modifiers ^mod-handle once1)
+        (<LTI999066> ^arg-type object ^id <LTI999067>)
+        (<LTI999073> ^arg-type object ^id <LTI999074>)
+        (<LTI999080> ^arg-type object ^id <LTI999081>)
+        (<LTI999087> ^arg-type object ^id <LTI999088>)
+        (<LTI999094> ^2 <LTI999096> ^arg-type partial-predicate ^id <LTI999095>)
+        (<LTI999047> ^1 <LTI999038> ^id <LTI999048> ^type unary)
+        (<LTI999051> ^subtask-handle subtask22 ^type subtask)
+        (<LTI999064> ^goal <LTI999062> ^learned proposal)
+          (<LTI999059> ^default <LTI999060>)
+          (<LTI999058> ^default <LTI999061>)
+          (<LTI999067> ^default <LTI999068>)
+          (<LTI999074> ^default <LTI999075>)
+          (<LTI999081> ^abstract true ^default <LTI999082>)
+          (<LTI999088> ^default <LTI999089>)
+          (<LTI999095> ^default <LTI999097>)
+          (<LTI999096> ^default <LTI999098>)
+          (<LTI999048> ^default <LTI999049>)
+          (<LTI999062> ^1 <LTI999063> ^handle ensure1goal27 ^item-type task-goal ^next <LTI999071> ^pred-count 1)
+            (<LTI999060> ^category location ^modifier1 current1)
+            (<LTI999061> ^category location ^modifier1 starting1)
+            (<LTI999068> ^category officer1 ^name co1)
+            (<LTI999075> ^category sentry1)
+            (<LTI999082> ^category message ^sentence |is not present|)
+            (<LTI999089> ^category location ^modifier1 starting1)
+            (<LTI999097> ^predicate-handle to1)
+            (<LTI999098> ^category location ^modifier1 starting1)
+            (<LTI999049> ^predicate-handle confirmed1 ^property-handle is-confirmed1)
+            (<LTI999063> ^subtask-handle subtask26 ^type subtask)
+            (<LTI999071> ^goal <LTI999069> ^learned proposal)
+              (<LTI999069> ^1 <LTI999070> ^handle ensure1goal33 ^item-type task-goal ^next <LTI999078> ^pred-count 1)
+                (<LTI999070> ^subtask-handle subtask32 ^type subtask)
+                (<LTI999078> ^goal <LTI999076> ^learned proposal)
+                  (<LTI999076> ^1 <LTI999077> ^handle ensure1goal39 ^item-type task-goal ^next <LTI999085> ^pred-count 1)
+                    (<LTI999077> ^subtask-handle subtask38 ^type subtask)
+                    (<LTI999085> ^goal <LTI999083> ^learned proposal)
+                      (<LTI999083> ^1 <LTI999084> ^handle ensure1goal42 ^item-type task-goal ^next <LTI999092> ^pred-count 1)
+                        (<LTI999084> ^subtask-handle subtask41 ^type subtask)
+                        (<LTI999092> ^goal <LTI999090> ^learned proposal)
+                          (<LTI999090> ^1 <LTI999091> ^handle ensure1goal45 ^item-type task-goal ^next <LTI999100> ^pred-count 1)
+                            (<LTI999091> ^subtask-handle subtask44 ^type subtask)
+                            (<LTI999100> ^goal <LTI999099> ^learned proposal)
+                              (<LTI999099> ^handle ensure1term47 ^item-type terminal-goal)
+
+}
+
+smem --add {
+(@fetch1 ^goal-graph <LTI999006> ^handle fetch1 ^procedural <LTI999000>)
+  (<LTI999000> ^arg1 <LTI999001> ^arg2 <LTI999002> ^op_name op_fetch12 ^subtasks <LTI999016>)
+  (<LTI999006> ^handle fetch1start3 ^item-type start-goal ^next <LTI999015>)
+    (<LTI999001> ^arg-type object ^id <LTI999005>)
+    (<LTI999002> ^2 <LTI999004> ^arg-type partial-predicate ^id <LTI999003>)
+    (<LTI999016> ^subtask <LTI999017> <LTI999023> <LTI999025> <LTI999029> <LTI999033>)
+    (<LTI999015> ^goal <LTI999008> ^learned proposal)
+      (<LTI999017> ^arg1 <LTI999018> ^arg2 <LTI999019> ^handle subtask8 ^modifiers <LTI999020> ^op_name op_remember1 ^task-handle remember1)
+      (<LTI999023> ^arg1 <LTI999024> ^handle subtask9 ^op_name op_find1 ^task-handle find1)
+      (<LTI999025> ^arg1 <LTI999026> ^handle subtask10 ^op_name op_pick-up1 ^task-handle pick-up1)
+      (<LTI999029> ^arg2 <LTI999030> ^handle subtask12 ^op_name op_go-to-location1 ^task-handle go-to-location1)
+      (<LTI999033> ^arg1 <LTI999034> ^handle subtask13 ^op_name op_put-down1 ^task-handle put-down1)
+      (<LTI999008> ^1 <LTI999010> ^handle fetch1goal6 ^item-type task-goal ^next <LTI999009> ^pred-count 1)
+        (<LTI999018> ^arg-type object ^id <LTI999021>)
+        (<LTI999019> ^arg-type object ^id <LTI999012>)
+        (<LTI999020> ^arg-type modifiers ^mod-handle first1 once1)
+        (<LTI999024> ^arg-type object ^id <LTI999005>)
+        (<LTI999026> ^arg-type object ^id <LTI999005>)
+        (<LTI999030> ^2 <LTI999012> ^arg-type partial-predicate ^id <LTI999031>)
+        (<LTI999034> ^arg-type object ^id <LTI999005>)
+        (<LTI999009> ^goal <LTI999007> ^learned proposal)
+        (<LTI999010> ^1 <LTI999005> ^2 <LTI999012> ^id <LTI999011> ^type relation)
+          (<LTI999021> ^default <LTI999022>)
+          (<LTI999012> ^default <LTI999014>)
+          (<LTI999031> ^default <LTI999032>)
+          (<LTI999007> ^handle fetch1term5 ^item-type terminal-goal)
+          (<LTI999011> ^default <LTI999013>)
+            (<LTI999022> ^category location ^modifier1 current1)
+            (<LTI999014> ^category location ^modifier1 starting1)
+            (<LTI999032> ^predicate-handle to1)
+            (<LTI999013> ^predicate-handle in1)
+}
+
+## RELATIONS USED IN MOBILE DOMAIN FOR EVALUATION
+smem --add {
+(@on1 ^relation <501000x> <501000y> <501000z> )
+   (<501000x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501000y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501000z> ^avg 0.005 ^axis z ^bottom 0.00001 ^count 3 ^squaredsum 0.0 ^sum 0.0 ^top 0.5 ^type greater )
+
+(@in1 ^relation <501001x> <501001y> <501001z> )
+   (<501001x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501001y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501001z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+
+(@right-of1 ^relation <501002x> <501002y> <501002z>)
+   (<501002x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501002y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type less )
+   (<501002z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   
+(@left-of1 ^relation <501003x> <501003y> <501003z>)
+   (<501003x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501003y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
+   (<501003z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+
+(@behind1 ^relation <501014x> <501014y> <501014z>)
+   (<501014x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
+   (<501014y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501014z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   
+(@infront1 ^relation <501016x> <501016y> <501016z>)
+   (<501016x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.1 ^top 4.0 ^type less )
+   (<501016y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501016z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+}
+
+smem --add {
+(@guard1 ^goal-graph <lti999169> ^handle guard1 ^procedural <lti999166>)
+  (<lti999166> ^arg1 <lti999167> ^op_name op_guard176 ^subtasks <lti999173>)
+  (<lti999169> ^handle guard1start77 ^item-type start-goal ^next <lti999172>)
+    (<lti999167> ^arg-type object ^id <lti999168>)
+    (<lti999173> ^subtask <lti999174> <lti999182> <lti999205> <lti999323> <lti999330> <lti999374>)
+    (<lti999172> ^goal <lti999170> ^learned proposal)
+      (<lti999174> ^arg1 <lti999175> ^handle subtask81 ^modifiers <lti999176> ^op_name op_ask1 ^subgoal-specific guard1goal82 ^task-handle ask1)
+      (<lti999182> ^arg1 <lti999183> ^arg2 <lti999184> ^handle subtask86 ^modifiers <lti999185> ^op_name op_remember1 ^subgoal-specific guard1goal87 ^task-handle remember1)
+      (<lti999205> ^arg1 <lti999206> ^handle subtask93 ^op_name op_inspect11 ^subgoal-specific guard1goal94 ^task-handle inspect1)
+      (<lti999323> ^arg1 <lti999324> ^handle subtask141 ^op_name op_inspect11 ^subgoal-specific guard1goal142 ^task-handle inspect1)
+      (<lti999330> ^arg1 <lti999331> ^handle subtask145 ^op_name op_inspect11 ^subgoal-specific guard1goal146 ^task-handle inspect1)
+      (<lti999374> ^arg2 <lti999375> ^handle subtask165 ^op_name op_go-to-location1 ^subgoal-specific guard1goal166 ^task-handle go-to-location1)
+      (<lti999170> ^1 <lti999171> ^handle guard1goal82 ^item-type task-goal ^next <lti999181> ^pred-count 1)
+        (<lti999175> ^arg-type object ^id <lti999177>)
+        (<lti999176> ^arg-type modifiers ^mod-handle once1)
+        (<lti999183> ^arg-type object ^id <lti999187>)
+        (<lti999184> ^arg-type object ^id <lti999186>)
+        (<lti999185> ^arg-type modifiers ^mod-handle once1)
+        (<lti999206> ^arg-type object ^id <lti999207>)
+        (<lti999324> ^arg-type object ^id <lti999325>)
+        (<lti999331> ^arg-type object ^id <lti999332>)
+        (<lti999375> ^2 <lti999377> ^arg-type partial-predicate ^id <lti999376>)
+        (<lti999171> ^subtask-handle subtask81 ^type subtask)
+        (<lti999181> ^goal <lti999179> ^learned proposal)
+          (<lti999177> ^abstract true ^default <lti999178>)
+          (<lti999187> ^default <lti999188>)
+          (<lti999186> ^default <lti999189>)
+          (<lti999207> ^default <lti999208>)
+          (<lti999325> ^default <lti999326>)
+          (<lti999332> ^default <lti999333>)
+          (<lti999376> ^default <lti999378>)
+          (<lti999377> ^default <lti999379>)
+          (<lti999179> ^1 <lti999180> ^handle guard1goal87 ^item-type task-goal ^next <lti999195> ^pred-count 1)
+            (<lti999178> ^category message ^sentence |who is my relieving officer?|)
+            (<lti999188> ^modifier1 answered1)
+            (<lti999189> ^category officer1 ^modifier1 relieving1)
+            (<lti999208> ^category room1 ^name messhall1)
+            (<lti999326> ^cardinal-direction1 east1 ^category post1)
+            (<lti999333> ^category room1 ^name motorpool1)
+            (<lti999378> ^predicate-handle to1)
+            (<lti999379> ^category office1 ^possessive cos1)
+            (<lti999180> ^subtask-handle subtask86 ^type subtask)
+            (<lti999195> ^goal <lti999193> ^learned proposal)
+              (<lti999193> ^handle guard1repeat92 ^item-type repeat-goal ^next <lti999194> <lti999204> ^pred-count 0)
+                (<lti999194> ^conditions <lti999196> ^goal <lti999192> ^learned proposal)
+                (<lti999204> ^goal <lti999202>)
+                  (<lti999192> ^handle guard1exit91 ^item-type loop-exit ^next <lti999382> ^pred-count 0)
+                  (<lti999196> ^1 <lti999197> ^pred-count 1)
+                  (<lti999202> ^1 <lti999203> ^handle guard1goal94 ^item-type task-goal ^next <lti999322> ^pred-count 1)
+                    (<lti999382> ^goal <lti999381> ^learned proposal)
+                    (<lti999197> ^1 <lti999199> ^id <lti999198> ^type unary)
+                    (<lti999203> ^subtask-handle subtask93 ^type subtask)
+                    (<lti999322> ^goal <lti999320> ^learned proposal)
+                      (<lti999381> ^handle guard1term168 ^item-type terminal-goal)
+                      (<lti999198> ^default <lti999200>)
+                      (<lti999199> ^default <lti999201>)
+                      (<lti999320> ^1 <lti999321> ^handle guard1goal142 ^item-type task-goal ^next <lti999329> ^pred-count 1)
+                        (<lti999200> ^predicate-handle confirmed1 ^property-handle is-confirmed1)
+                        (<lti999201> ^category officer1 ^modifier1 relieving1)
+                        (<lti999321> ^subtask-handle subtask141 ^type subtask)
+                        (<lti999329> ^goal <lti999327> ^learned proposal)
+                          (<lti999327> ^1 <lti999328> ^handle guard1goal146 ^item-type task-goal ^next <lti999373> ^pred-count 1)
+                            (<lti999328> ^subtask-handle subtask145 ^type subtask)
+                            (<lti999373> ^goal <lti999371> ^learned proposal)
+                              (<lti999371> ^1 <lti999372> ^handle guard1goal166 ^item-type task-goal ^next <lti999380> ^pred-count 1)
+                                (<lti999372> ^subtask-handle subtask165 ^type subtask)
+                                (<lti999380> ^goal <lti999193> ^learned proposal)
+
+}
+
+smem --add {
+(@inspect1 ^goal-graph <lti999003> ^handle inspect1 ^procedural <lti999000>)
+  (<lti999000> ^arg1 <lti999001> ^op_name op_inspect11 ^subtasks <lti999007>)
+  (<lti999003> ^handle inspect1start155 ^item-type start-goal ^next <lti999006>)
+    (<lti999001> ^arg-type object ^id <lti999002>)
+    (<lti999007> ^subtask <lti999008> <lti999024> <lti999044> <lti999065> <lti999082> <lti999232> <lti999277> <lti999346> <lti999354> <lti999362>)
+    (<lti999006> ^goal <lti999004>)
+      (<lti999008> ^arg2 <lti999009> ^handle subtask3 ^op_name op_go-to-location1 ^subgoal-specific inspect1goal4 ^task-handle go-to-location1)
+      (<lti999024> ^arg1 <lti999025> ^handle subtask5 ^op_name op_turn-on1 ^subgoal-specific inspect1goal6 ^task-handle turn-on1)
+      (<lti999044> ^arg1 <lti999045> ^arg2 <lti999046> ^handle subtask19 ^op_name op_fetch12 ^subgoal-specific inspect1goal21 ^task-handle fetch1)
+      (<lti999065> ^arg1 <lti999066> ^arg2 <lti999067> ^handle subtask28 ^op_name op_ensure115 ^subgoal-specific inspect1goal29 ^task-handle ensure1)
+      (<lti999082> ^arg1 <lti999083> ^handle subtask33 ^op_name op_turn-off1 ^subgoal-specific inspect1goal35 ^task-handle turn-off1)
+      (<lti999232> ^arg1 <lti999233> ^arg2 <lti999234> ^handle subtask99 ^op_name op_move198 ^subgoal-specific inspect1goal101 ^task-handle move1)
+      (<lti999277> ^arg1 <lti999278> ^handle subtask117 ^op_name op_store1116 ^subgoal-specific inspect1goal118 ^task-handle store1)
+      (<lti999346> ^arg1 <lti999347> ^arg2 <lti999348> ^handle subtask158 ^op_name op_ensure115 ^task-handle ensure1)
+      (<lti999354> ^arg1 <lti999355> ^arg2 <lti999356> ^handle subtask160 ^op_name op_ensure115 ^task-handle ensure1)
+      (<lti999362> ^arg1 <lti999363> ^handle subtask162 ^op_name op_lock1 ^task-handle lock1)
+      (<lti999004> ^1 <lti999005> ^handle inspect1goal154 ^item-type task-goal ^next <lti999016> <lti999017> ^pred-count 1)
+        (<lti999009> ^2 <lti999002> ^arg-type partial-predicate ^id <lti999010>)
+        (<lti999025> ^arg-type object ^id <lti999026>)
+        (<lti999045> ^arg-type object ^id <lti999049>)
+        (<lti999046> ^2 <lti999048> ^arg-type partial-predicate ^id <lti999047>)
+        (<lti999066> ^arg-type object ^id <lti999069>)
+        (<lti999067> ^arg-type concept ^id <lti999068>)
+        (<lti999083> ^arg-type object ^id <lti999084>)
+        (<lti999233> ^arg-type object ^id <lti999237>)
+        (<lti999234> ^2 <lti999236> ^arg-type partial-predicate ^id <lti999235>)
+        (<lti999278> ^arg-type object ^id <lti999279>)
+        (<lti999347> ^arg-type object ^id <lti999350>)
+        (<lti999348> ^arg-type concept ^id <lti999349>)
+        (<lti999355> ^arg-type object ^id <lti999358>)
+        (<lti999356> ^arg-type concept ^id <lti999357>)
+        (<lti999363> ^arg-type object ^id <lti999364>)
+        (<lti999005> ^subtask-handle subtask3 ^type subtask)
+        (<lti999016> ^conditions <lti999018> ^goal <lti999012>)
+        (<lti999017> ^goal <lti999015>)
+          (<lti999010> ^default <lti999011>)
+          (<lti999026> ^default <lti999027>)
+          (<lti999049> ^default <lti999050>)
+          (<lti999047> ^default <lti999051>)
+          (<lti999048> ^default <lti999052>)
+          (<lti999069> ^default <lti999070>)
+          (<lti999068> ^default <lti999071>)
+          (<lti999084> ^default <lti999085>)
+          (<lti999237> ^default <lti999238>)
+          (<lti999235> ^default <lti999239>)
+          (<lti999236> ^default <lti999240>)
+          (<lti999279> ^default <lti999280>)
+          (<lti999350> ^default <lti999351>)
+          (<lti999349> ^default <lti999352>)
+          (<lti999358> ^default <lti999359>)
+          (<lti999357> ^default <lti999360>)
+          (<lti999364> ^default <lti999365>)
+          (<lti999012> ^1 <lti999014> ^handle inspect1goal156 ^item-type task-goal ^next <lti999013> ^pred-count 1)
+          (<lti999018> ^1 <lti999019> ^pred-count 1)
+          (<lti999015> ^handle inspect1int153 ^item-type intermediate-goal ^next <lti999340> <lti999341> ^pred-count 0)
+            (<lti999011> ^predicate-handle to1)
+            (<lti999027> ^category lightswitch1)
+            (<lti999050> ^category extinguisher1)
+            (<lti999051> ^predicate-handle from1)
+            (<lti999052> ^category room1 ^modifier1 supply1)
+            (<lti999070> ^category sentry1)
+            (<lti999071> ^predicate-handle confirmed1)
+            (<lti999085> ^category lightswitch1)
+            (<lti999238> ^category plate1)
+            (<lti999239> ^predicate-handle in1)
+            (<lti999240> ^category sink1)
+            (<lti999280> ^category condiment1)
+            (<lti999351> ^category sentry1)
+            (<lti999352> ^predicate-handle confirmed1)
+            (<lti999359> ^category dispatcher1)
+            (<lti999360> ^predicate-handle confirmed1)
+            (<lti999365> ^category vehicle1)
+            (<lti999013> ^goal <lti999015> ^learned proposal)
+            (<lti999014> ^subtask-handle subtask5 ^type subtask)
+            (<lti999019> ^1 <lti999021> ^id <lti999020> ^type unary)
+            (<lti999340> ^goal <lti999339>)
+            (<lti999341> ^conditions <lti999342> ^goal <lti999337> ^learned proposal)
+              (<lti999020> ^default <lti999022>)
+              (<lti999021> ^default <lti999023>)
+              (<lti999339> ^handle inspect1int152 ^item-type intermediate-goal ^next <lti999219> <lti999220> ^pred-count 0)
+              (<lti999337> ^1 <lti999353> ^2 <lti999361> ^3 <lti999366> ^handle inspect1goal151 ^item-type task-goal ^next <lti999338> ^pred-count 3)
+              (<lti999342> ^1 <lti999343> ^pred-count 1)
+                (<lti999022> ^predicate-handle not-activated1 ^property-handle is-activated1)
+                (<lti999023> ^category lightswitch1)
+                (<lti999219> ^goal <lti999215>)
+                (<lti999220> ^conditions <lti999221> ^goal <lti999216>)
+                (<lti999338> ^goal <lti999339> ^learned proposal)
+                (<lti999353> ^subtask-handle subtask158 ^type subtask)
+                (<lti999361> ^subtask-handle subtask160 ^type subtask)
+                (<lti999366> ^subtask-handle subtask162 ^type subtask)
+                (<lti999343> ^1 <lti999344> ^name current-location ^type status)
+                  (<lti999215> ^handle inspect1int120 ^item-type intermediate-goal ^next <lti999264> <lti999265> ^pred-count 0)
+                  (<lti999216> ^1 <lti999218> ^handle inspect1goal125 ^item-type task-goal ^next <lti999217> ^pred-count 1)
+                  (<lti999221> ^1 <lti999222> ^2 <lti999223> ^pred-count 2)
+                  (<lti999344> ^default <lti999345>)
+                    (<lti999264> ^conditions <lti999266> ^goal <lti999260> ^learned proposal)
+                    (<lti999265> ^goal <lti999263> ^learned proposal)
+                    (<lti999217> ^goal <lti999215>)
+                    (<lti999218> ^subtask-handle subtask99 ^type subtask)
+                    (<lti999222> ^1 <lti999227> ^name current-location ^type status)
+                    (<lti999223> ^1 <lti999225> ^2 <lti999226> ^id <lti999224> ^type relation)
+                    (<lti999345> ^category room1 ^name motorpool1)
+                      (<lti999260> ^1 <lti999262> ^handle inspect1goal118 ^item-type task-goal ^next <lti999261> ^pred-count 1)
+                      (<lti999266> ^1 <lti999267> ^2 <lti999268> ^pred-count 2)
+                      (<lti999263> ^handle inspect1int119 ^item-type intermediate-goal ^next <lti999036> <lti999037> ^pred-count 0)
+                      (<lti999227> ^default <lti999228>)
+                      (<lti999224> ^default <lti999229>)
+                      (<lti999225> ^default <lti999230>)
+                      (<lti999226> ^default <lti999231>)
+                        (<lti999261> ^goal <lti999263> ^learned proposal)
+                        (<lti999262> ^subtask-handle subtask117 ^type subtask)
+                        (<lti999267> ^1 <lti999272> ^name current-location ^type status)
+                        (<lti999268> ^1 <lti999270> ^2 <lti999271> ^id <lti999269> ^type relation)
+                        (<lti999036> ^goal <lti999032>)
+                        (<lti999037> ^conditions <lti999038> ^goal <lti999033>)
+                        (<lti999228> ^category room1 ^name messhall1)
+                        (<lti999229> ^predicate-handle on1)
+                        (<lti999230> ^category plate1)
+                        (<lti999231> ^category table1)
+                          (<lti999272> ^default <lti999273>)
+                          (<lti999269> ^default <lti999274>)
+                          (<lti999270> ^default <lti999275>)
+                          (<lti999271> ^default <lti999276>)
+                          (<lti999032> ^handle inspect1int20 ^item-type intermediate-goal ^next <lti999059> <lti999060> ^pred-count 0)
+                          (<lti999033> ^1 <lti999035> ^handle inspect1goal21 ^item-type task-goal ^next <lti999034> ^pred-count 1)
+                          (<lti999038> ^1 <lti999039> ^2 <lti999040> ^pred-count 2)
+                            (<lti999273> ^category room1 ^name messhall1)
+                            (<lti999274> ^predicate-handle on1)
+                            (<lti999275> ^category condiment1)
+                            (<lti999276> ^category table1)
+                            (<lti999059> ^conditions <lti999061> ^goal <lti999055> ^learned proposal)
+                            (<lti999060> ^goal <lti999058> ^learned proposal)
+                            (<lti999034> ^goal <lti999032> ^learned proposal)
+                            (<lti999035> ^subtask-handle subtask19 ^type subtask)
+                            (<lti999039> ^1 <lti999042> ^name current-location ^type status)
+                            (<lti999040> ^1 <lti999041> ^pred-count 1 ^type object-missing)
+                              (<lti999055> ^1 <lti999057> ^handle inspect1goal29 ^item-type task-goal ^next <lti999056> ^pred-count 1)
+                              (<lti999061> ^1 <lti999062> ^pred-count 1)
+                              (<lti999058> ^handle inspect1int30 ^item-type intermediate-goal ^next <lti999076> <lti999077> ^pred-count 0)
+                              (<lti999042> ^default <lti999043>)
+                              (<lti999041> ^predicate-handle extinguisher1 ^property-handle category)
+                                (<lti999056> ^goal <lti999058> ^learned proposal)
+                                (<lti999057> ^subtask-handle subtask28 ^type subtask)
+                                (<lti999062> ^1 <lti999063> ^name current-location ^type status)
+                                (<lti999076> ^conditions <lti999078> ^goal <lti999073> ^learned proposal)
+                                (<lti999077> ^goal <lti999072> ^learned proposal)
+                                (<lti999043> ^category post1)
+                                  (<lti999063> ^default <lti999064>)
+                                  (<lti999073> ^1 <lti999075> ^handle inspect1goal35 ^item-type task-goal ^next <lti999074> ^pred-count 1)
+                                  (<lti999078> ^1 <lti999079> ^pred-count 1)
+                                  (<lti999072> ^handle inspect1int34 ^item-type intermediate-goal ^next <lti999087> ^pred-count 0)
+                                    (<lti999064> ^category post1)
+                                    (<lti999074> ^goal <lti999072> ^learned proposal)
+                                    (<lti999075> ^subtask-handle subtask33 ^type subtask)
+                                    (<lti999079> ^1 <lti999002> ^id <lti999080> ^type unary)
+                                    (<lti999087> ^goal <lti999086> ^learned proposal)
+                                      (<lti999080> ^default <lti999081>)
+                                      (<lti999086> ^handle inspect1term36 ^item-type terminal-goal)
+                                        (<lti999081> ^predicate-handle empty1 ^property-handle contents1)
+}
+
+smem --add {
+(@raise1 ^goal-graph <lti999091> ^handle raise1 ^procedural <lti999088>)
+  (<lti999088> ^arg1 <lti999089> ^op_name op_raise138 ^subtasks <lti999095>)
+  (<lti999091> ^handle raise1start39 ^item-type start-goal ^next <lti999094>)
+    (<lti999089> ^arg-type object ^id <lti999090>)
+    (<lti999095> ^subtask <lti999096> <lti999107> <lti999116> <lti999123> <lti999140> <lti999147>)
+    (<lti999094> ^goal <lti999092> ^learned proposal)
+      (<lti999096> ^arg1 <lti999097> ^arg2 <lti999098> ^handle subtask42 ^modifiers <lti999099> ^op_name op_remember1 ^subgoal-specific raise1goal43 ^task-handle remember1)
+      (<lti999107> ^arg2 <lti999108> ^handle subtask46 ^op_name op_go-to-location1 ^subgoal-specific raise1goal47 ^task-handle go-to-location1)
+      (<lti999116> ^arg1 <lti999117> ^handle subtask49 ^op_name op_turn-on1 ^subgoal-specific raise1goal50 ^task-handle turn-on1)
+      (<lti999123> ^arg1 <lti999124> ^arg2 <lti999125> ^handle subtask55 ^op_name op_say1 ^subgoal-specific raise1goal56 ^task-handle say1)
+      (<lti999140> ^arg1 <lti999141> ^handle subtask63 ^op_name op_describe1 ^subgoal-specific raise1goal64 ^task-handle describe1)
+      (<lti999147> ^arg2 <lti999148> ^handle subtask66 ^op_name op_go-to-location1 ^subgoal-specific raise1goal67 ^task-handle go-to-location1)
+      (<lti999092> ^1 <lti999093> ^handle raise1goal43 ^item-type task-goal ^next <lti999106> ^pred-count 1)
+        (<lti999097> ^arg-type object ^id <lti999101>)
+        (<lti999098> ^arg-type object ^id <lti999100>)
+        (<lti999099> ^arg-type modifiers ^mod-handle once1)
+        (<lti999108> ^2 <lti999110> ^arg-type partial-predicate ^id <lti999109>)
+        (<lti999117> ^arg-type object ^id <lti999118>)
+        (<lti999124> ^arg-type object ^id <lti999128>)
+        (<lti999125> ^2 <lti999127> ^arg-type partial-predicate ^id <lti999126>)
+        (<lti999141> ^arg-type object ^id <lti999142>)
+        (<lti999148> ^2 <lti999150> ^arg-type partial-predicate ^id <lti999149>)
+        (<lti999093> ^subtask-handle subtask42 ^type subtask)
+        (<lti999106> ^goal <lti999104> ^learned proposal)
+          (<lti999101> ^default <lti999102>)
+          (<lti999100> ^default <lti999103>)
+          (<lti999109> ^default <lti999111>)
+          (<lti999110> ^default <lti999112>)
+          (<lti999118> ^default <lti999119>)
+          (<lti999128> ^abstract true ^default <lti999129>)
+          (<lti999126> ^default <lti999130>)
+          (<lti999127> ^default <lti999131>)
+          (<lti999142> ^default <lti999143>)
+          (<lti999149> ^default <lti999151>)
+          (<lti999150> ^default <lti999152>)
+          (<lti999104> ^1 <lti999105> ^handle raise1goal47 ^item-type task-goal ^next <lti999115> ^pred-count 1)
+            (<lti999102> ^category location ^modifier1 current1)
+            (<lti999103> ^category location ^modifier1 emergency1)
+            (<lti999111> ^predicate-handle to1)
+            (<lti999112> ^cardinal-direction1 east1 ^category hall1)
+            (<lti999119> ^category alarm1)
+            (<lti999129> ^category message ^sentence |there is a fire.|)
+            (<lti999130> ^predicate-handle to1)
+            (<lti999131> ^category officer1 ^name co1)
+            (<lti999143> ^category location ^modifier1 emergency1)
+            (<lti999151> ^predicate-handle to1)
+            (<lti999152> ^category location ^modifier1 emergency1)
+            (<lti999105> ^subtask-handle subtask46 ^type subtask)
+            (<lti999115> ^goal <lti999113> ^learned proposal)
+              (<lti999113> ^1 <lti999114> ^handle raise1goal50 ^item-type task-goal ^next <lti999122> ^pred-count 1)
+                (<lti999114> ^subtask-handle subtask49 ^type subtask)
+                (<lti999122> ^goal <lti999120> ^learned proposal)
+                  (<lti999120> ^1 <lti999121> ^handle raise1goal56 ^item-type task-goal ^next <lti999139> ^pred-count 1)
+                    (<lti999121> ^subtask-handle subtask55 ^type subtask)
+                    (<lti999139> ^goal <lti999137> ^learned proposal)
+                      (<lti999137> ^1 <lti999138> ^handle raise1goal64 ^item-type task-goal ^next <lti999146> ^pred-count 1)
+                        (<lti999138> ^subtask-handle subtask63 ^type subtask)
+                        (<lti999146> ^goal <lti999144> ^learned proposal)
+                          (<lti999144> ^1 <lti999145> ^handle raise1goal67 ^item-type task-goal ^next <lti999154> ^pred-count 1)
+                            (<lti999145> ^subtask-handle subtask66 ^type subtask)
+                            (<lti999154> ^goal <lti999153> ^learned proposal)
+                              (<lti999153> ^handle raise1term69 ^item-type terminal-goal)
+
+}
+
+smem --add {
+(@move1 ^goal-graph <lti999241> ^handle move1 ^procedural <lti999209>)
+  (<lti999209> ^arg1 <lti999211> ^arg2 <lti999210> ^op_name op_move198 ^subtasks <lti999247>)
+  (<lti999241> ^handle move1start108 ^item-type start-goal ^next <lti999246>)
+    (<lti999210> ^2 <lti999214> ^arg-type partial-predicate ^id <lti999213>)
+    (<lti999211> ^arg-type object ^id <lti999212>)
+    (<lti999247> ^subtask <lti999248> <lti999250>)
+    (<lti999246> ^goal <lti999242> ^learned proposal)
+      (<lti999248> ^arg1 <lti999249> ^handle subtask111 ^op_name op_pick-up1 ^task-handle pick-up1)
+      (<lti999250> ^arg1 <lti999251> ^arg2 <lti999252> ^handle subtask112 ^op_name op_put-down1 ^task-handle put-down1)
+      (<lti999242> ^1 <lti999244> ^handle move1goal109 ^item-type task-goal ^next <lti999243> ^pred-count 1)
+        (<lti999249> ^arg-type object ^id <lti999212>)
+        (<lti999251> ^arg-type object ^id <lti999212>)
+        (<lti999252> ^2 <lti999214> ^arg-type partial-predicate ^id <lti999213>)
+        (<lti999243> ^goal <lti999245> ^learned proposal)
+        (<lti999244> ^1 <lti999212> ^2 <lti999214> ^id <lti999213> ^type relation)
+          (<lti999245> ^handle move1term110 ^item-type terminal-goal)
+}
+
+smem --add {
+(@store1 ^goal-graph <lti999281> ^handle store1 ^procedural <lti999257>)
+  (<lti999257> ^arg1 <lti999258> ^op_name op_store1116 ^subtasks <lti999300>)
+  (<lti999281> ^handle store1start127 ^item-type start-goal ^next <lti999295>)
+    (<lti999258> ^arg-type object ^id <lti999259>)
+    (<lti999300> ^subtask <lti999301> <lti999307> <lti999309> <lti999314>)
+    (<lti999295> ^conditions <lti999296> ^goal <lti999283> ^learned proposal)
+      (<lti999301> ^arg1 <lti999302> ^handle subtask132 ^op_name op_open1 ^task-handle open1)
+      (<lti999307> ^arg1 <lti999308> ^handle subtask135 ^op_name op_pick-up1 ^task-handle pick-up1)
+      (<lti999309> ^arg1 <lti999310> ^arg2 <lti999311> ^handle subtask136 ^op_name op_put-down1 ^task-handle put-down1)
+      (<lti999314> ^arg1 <lti999315> ^handle subtask137 ^op_name op_close1 ^task-handle close1)
+      (<lti999283> ^1 <lti999286> ^2 <lti999285> ^handle store1goal129 ^item-type task-goal ^next <lti999284> ^pred-count 2)
+      (<lti999296> ^1 <lti999297> ^pred-count 1)
+        (<lti999302> ^arg-type object ^id <lti999290>)
+        (<lti999308> ^arg-type object ^id <lti999259>)
+        (<lti999310> ^arg-type object ^id <lti999259>)
+        (<lti999311> ^2 <lti999288> ^arg-type partial-predicate ^id <lti999312>)
+        (<lti999315> ^arg-type object ^id <lti999288>)
+        (<lti999284> ^goal <lti999282> ^learned proposal)
+        (<lti999285> ^1 <lti999259> ^2 <lti999290> ^id <lti999289> ^type relation)
+        (<lti999286> ^1 <lti999288> ^id <lti999287> ^type unary)
+        (<lti999297> ^1 <lti999259> ^id <lti999298> ^type unary)
+          (<lti999290> ^default <lti999292>)
+          (<lti999288> ^default <lti999294>)
+          (<lti999312> ^default <lti999313>)
+          (<lti999282> ^handle store1term128 ^item-type terminal-goal)
+          (<lti999289> ^default <lti999291>)
+          (<lti999287> ^default <lti999293>)
+          (<lti999298> ^default <lti999299>)
+            (<lti999292> ^category fridge1)
+            (<lti999294> ^category fridge1)
+            (<lti999313> ^predicate-handle in1)
+            (<lti999291> ^predicate-handle in1)
+            (<lti999293> ^predicate-handle not-open1 ^property-handle is-open1)
+            (<lti999299> ^predicate-handle condiment1 ^property-handle category)
+}
diff --git a/examples/interior-guard-old/extra-soar-rules.soar b/examples/interior-guard-old/extra-soar-rules.soar
new file mode 100644
index 0000000000..9a7e5adad1
--- /dev/null
+++ b/examples/interior-guard-old/extra-soar-rules.soar
@@ -0,0 +1,290 @@
+sp {top-state*elaborate*agent-params*custom
+   (state <s> ^superstate nil
+              ^agent-params <p>)
+-->
+   (<p> ^debug-ids true
+#       ^report-tasks-to-output-link true
+#       ^debug-op-ties true
+#       ^debug-wait-limit 3
+
+#       ^interrupt-operator interpret-message 
+#       ^interrupt-end-of-sentence true
+#       ^interrupt-new-task true
+#       ^interrupt-task-search true
+        
+        ^print-perception true
+#       ^print-new-task true
+#       ^print-new-task-shorthand true
+#       ^print-wp-search-path-costs true
+#       ^print-parsed-messages true
+#       ^print-outgoing-messages true
+#       ^print-interaction-stack true
+
+   )
+}
+
+# Load chunks for fetch
+#source fetch-chunks.soar
+source full-training-chunks.soar
+
+source waypoint-map.soar
+source internal-world.soar
+
+#explain all on
+
+sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
+   (state <s> ^superstate nil
+              ^agent-params.domain internal
+              ^world.predicates <preds>
+              ^perception-monitor.predicate-monitor <pred-mon>)
+-->
+   (<preds> ^predicate.handle in1)
+   (<preds> ^predicate.handle on1)
+   (<preds> ^predicate.handle holding1)
+   (<preds> ^predicate.handle heard2)
+}
+
+sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*magicbot
+   (state <s> ^superstate nil
+              ^agent-params.domain magicbot
+              ^world.predicates <preds>
+              ^perception-monitor.predicate-monitor <pred-mon>)
+-->
+   # Extract predicates via SVS
+   (<pred-mon> ^predicate-info.predicate-handle in1)
+   (<pred-mon> ^predicate-info.predicate-handle on1)
+
+   (<preds> ^predicate.handle holding1)
+   (<preds> ^predicate.handle heard2)
+}
+
+# Remove modifiers relieiving or emergency when the top task segment is popped
+sp {problem-space*action*pop-task-segment*apply*complete-pop-task-segment*remove*modifiers*relieving
+   (state <s> ^name pop-task-segment
+              ^operator.name complete-pop-task-segment
+              ^segment-to-pop <seg>
+              ^task-stack.top <seg>
+              ^top-state.world.objects.object.predicates <preds>)
+   (<preds> ^modifier1 { <mod> << relieving1 emergency1 >> })
+-->
+   (<preds> ^modifier1 <mod> -)
+}
+
+########### SCRIPTING CONDITIONS ###############
+# These are ways of advancing the script in response to 
+# some conditions being met in the world
+
+sp {top-state*elaborate*script-triggers
+   (state <s> ^superstate nil)
+-->
+   (<s> ^script-triggers <tr>)
+}
+
+sp {top-state*propose*get-next-script-message
+   (state <s> ^superstate nil
+              ^script-triggers <tr>)
+   (<tr> ^trigger <h>
+        -^handled <h>)
+-->
+   (<s> ^operator <o> + > = !)
+   (<o> ^name get-next-script-message
+        ^handle <h>)
+}
+
+sp {top-state*apply*get-next-script-message
+   (state <s> ^superstate nil
+              ^operator <o>
+              ^script-triggers <tr>
+              ^interaction.changes <chgs>)
+   (<o> ^name get-next-script-message
+        ^handle <h>)
+-->
+   (<tr> ^handled <h>)
+   (<chgs> ^outgoing-message <msg>)
+   (<msg> ^type get-next-script-message
+          ^complete-message true
+          ^fields.trigger <h>)
+}
+
+## Trigger 1: First time we turn-on the lights in the messhall, interrupt
+#sp {top-state*elaborate*script-triggers*messhall_1
+#   (state <s> ^superstate nil
+#              ^script-triggers <tr>
+#              ^task-stack.bottom.task-operator.name op_turn-on1
+#              ^world.robot.current-location.predicates.name messhall1)
+#-->
+#   (<tr> ^trigger messhall_1)
+#}
+#
+## Trigger 2: First time we turn on the lights in the motorpool, interrupt
+#sp {top-state*elaborate*script-triggers*motorpool_1
+#   (state <s> ^superstate nil
+#              ^script-triggers <tr>
+#              ^task-stack.bottom.task-operator.name op_turn-on1
+#              ^world.robot.current-location.predicates.name motorpool1)
+#-->
+#   (<tr> ^trigger motorpool_1)
+#}
+
+sp {top-state*elaborate*script-triggers*inspect-mh1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>
+              ^world.objects.object <off>)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name messhall1)
+   (<off> ^root-category officer1
+          ^predicates <preds>)
+   (<preds> ^name williams1
+            ^modifier1 relieving1)
+-->
+   (<tr> ^trigger inspect-mh1)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-esp1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mh1)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.root-category post1)
+-->
+   (<tr> ^trigger inspect-esp1)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-mp1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-esp1)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name motorpool1)
+-->
+   (<tr> ^trigger inspect-mp1)
+}
+
+sp {top-state*elaborate*script-triggers*raise-alarm1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mp1)
+   (<task-op> ^task-handle raise1)
+-->
+   (<tr> ^trigger raise-alarm1)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-mh2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mp1)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name messhall1)
+-->
+   (<tr> ^trigger inspect-mh2)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-esp2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mh2)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.root-category post1)
+-->
+   (<tr> ^trigger inspect-esp2)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-mp2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-esp2)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name motorpool1)
+-->
+   (<tr> ^trigger inspect-mp2)
+}
+
+sp {top-state*elaborate*script-triggers*go-to-co2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mp2)
+   (<task-op> ^task-handle go-to-location1
+              ^arg1.id.predicates.possessive cos1)
+-->
+   (<tr> ^trigger go-to-co2)
+}
+
+###### Rules for printing events
+sp {complete-push-task-segment*report*time*info
+   (state <s> ^name push-task-segment
+              ^operator.name complete-push-task-segment
+              ^segment-to-push.task-operator.task-handle <task-h>
+              ^io.input-link.time <t>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$START-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
+}
+
+sp {complete-pop-task-segment*report*time*info
+   (state <s> ^name pop-task-segment
+              ^operator.name complete-pop-task-segment
+              ^segment-to-pop.task-operator.task-handle <task-h>
+              ^io.input-link.time <t>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$END-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
+}
+
+sp {search-for-next-subtask*start*report*time*info
+   (state <s> ^operator.name search-for-next-subtask
+              ^superstate.task-operator.task-handle <task-h>
+              ^io.input-link.time <t>
+             -^reported-time)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$BEGIN-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
+   (<s> ^reported-time true)
+}
+
+sp {search-for-next-subtask*finish*report*time*info
+   (state <s> ^name search-for-next-subtask
+              ^superstate.superstate.task-operator.task-handle <task-h>
+              ^operator.name << return-successful-operator initiate-interaction >>
+              ^io.input-link.time <t>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
+}
+
+sp {apply*select-next-goal*report*goal*handle
+   (state <s> ^problem-space.subproblem execute
+              ^operator <o>
+              ^apply-select-next-goal true
+              ^task-operator.task-handle <task-h>
+              ^io.input-link.time <t>)
+   (<o> ^name select-next-goal
+        ^next-goal-handle <goal-h>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$SELECTED-GOAL$ | <goal-h> | | <steps> | | <ms> (crlf))
+}
+
+#sp {interrupt*mltiple*objs
+#   (state <s> ^superstate nil
+#              ^world.objects <objs>)
+#   (<objs> ^object <obj1>
+#           ^object { <obj2> <> <obj1> })
+#   (<obj1> ^handle <h>)
+#   (<obj2> ^handle <h>)
+#-->
+#   (interrupt)
+#   (write |DUPLICATE HANDLE: | <h>)
+#}
diff --git a/examples/interior-guard-old/fetch-chunks.soar b/examples/interior-guard-old/fetch-chunks.soar
new file mode 100644
index 0000000000..a9e182f3fc
--- /dev/null
+++ b/examples/interior-guard-old/fetch-chunks.soar
@@ -0,0 +1,4153 @@
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<s2> ^name <n2>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<s2> ^name <n2>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> })
+    (<p2> ^<a10> <a11> -^<a14> { <a15> <> <a11> <> <a13> } ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a16> ^<a3> <a17> ^<a5> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+    (<a17> ^handle <h2> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a10> <a11> ^<a12> <a13>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> -^<a12> { <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15> ^<a5> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i1> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a19> <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> < <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a19> <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> < <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h1> <> <h2> }
+          ^handle <h2>)
+    (<a3> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h1>
+          ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h4>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h1>
+          ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h4>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h2> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h2> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask subtask8 -^performed-subtask <p1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^handle <h2> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4> ^<i2> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i5> ^1 <i4> ^handle <h2> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
diff --git a/examples/interior-guard-old/final-chunks.txt b/examples/interior-guard-old/final-chunks.txt
new file mode 100644
index 0000000000..3969abba0c
--- /dev/null
+++ b/examples/interior-guard-old/final-chunks.txt
@@ -0,0 +1,14698 @@
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1800240-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int119)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1436584-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*3*implicit*OpNoChange*t1041516-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal151 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal151 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2> ^implicit-object <i3>)
+    (<i1> ^default <d1>)
+    (<d1> ^category vehicle1)
+    (<i2> ^default <d2>)
+    (<d2> ^category dispatcher1)
+    (<i3> ^default <d3>)
+    (<d3> ^category sentry1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t941552-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle explore1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle explore1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t941541-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle explore1)
+    (<o1> ^next-goal-handle explore1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t941532-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle explore1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle explore1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t850765-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle explore1)
+    (<o1> ^next-goal-handle explore1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t850756-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle explore1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle explore1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t850742-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle explore1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle explore1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t652568-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> -^<a8> { <a9> <> <a7> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a10>)
+    (<a10> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t300795-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int152)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int120
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t300780-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal154)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t131665-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal125)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int120
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t124261-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal125)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal125)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t124222-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal125 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal125 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t124211-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal125
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t124188-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int153)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t119428-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal156 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal156 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t119417-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal154)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal156
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1660-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal154)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal154)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1645-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal154 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1634-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start155)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal154
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1621-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start155)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start155 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1570-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1repeat92)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal94
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> })
+    (<p2> ^<a10> <a11> -^<a14> { <a15> <> <a11> <> <a13> } ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a16> ^<a3> <a17> ^<a5> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+    (<a17> ^handle <h2> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a10> <a11> ^<a12> <a13>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> -^<a12> { <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15> ^<a5> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i1> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a14> <a15>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    (<a15> ^arg-type modifiers ^handle <h6> ^handle { <h7> < <h6> })
+   -{ (<t1> ^{ <a18> <> <a16> <> arg1 } <a19>)
+      (<a19> ^arg-type <a20>)}
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a14> <a15>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    (<a15> ^arg-type modifiers ^handle <h6> ^handle { <h7> < <h6> })
+   -{ (<t1> ^{ <a18> <> <a16> <> arg1 } <a19>)
+      (<a19> ^arg-type <a20>)}
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h1> <> <h2> }
+          ^handle <h2>)
+    (<a3> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h2>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h2>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask subtask8 -^performed-subtask <p1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4> ^<i2> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i5> ^1 <i4> ^handle <h1> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t330-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start2)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start2 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t565-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal4
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t576-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal4 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal4)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t607-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id { <i1> <> <c1> })
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a2> ^subtask-handle subtask3)
+    (<a2> ^2 <i1> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t718-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type coordinate ^coord <c2>)
+    (<c2> -^z <z1> ^y <y1> ^x <x1>)
+    -->
+    (<d1> ^<c1> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^coord <c4> ^arg-type coordinate)
+    (<c4> ^y <y1> ^x <x1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t739-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t16114-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t16123-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t16138-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1goal1)
+    (<t1> ^task-handle go-to-xy1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle goto-xy1goal1)
+    (<i1> ^command-name go-to-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t39402-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t39411-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t39421-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t250395-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> ^name copy-task-operator ^task-operator <t1> ^copy-name <c1>
+          ^destination <d1>)
+   -{ (<t1> ^<a1> <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t285591-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t285600-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t285610-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286045-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal4)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal6
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t286056-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286083-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal6)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal6)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286096-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask5)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286120-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286126-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286135-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286152-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1goal1)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-on1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle activated1
+           ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t286174-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t286174-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286213-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask14)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286237-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286250-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1goal2
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286259-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286276-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1goal2)
+    (<t1> ^task-handle view1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle view1goal2)
+    (<i2> ^1 <i1> ^property-handle is-visible1 ^handle visible1 ^type unary)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286300-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286315-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286324-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286339-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1goal1)
+    (<t1> ^task-handle face1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle face1goal1)
+    (<i1> ^command-name face-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299732-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299741-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299751-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299768-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299777-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299787-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t299809-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t299809-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t299848-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask15)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t326722-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340751-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340760-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t340770-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340800-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340800-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340800-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340800-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340800-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340815-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340815-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340815-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340815-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340815-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340844-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int7
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340853-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int7 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t340864-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int7 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t341537-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int7)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t341548-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal21 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal21 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 supply1 ^category room1)
+    (<i2> ^default <d2>)
+    (<d2> ^category extinguisher1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t341588-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal21)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal21)
+    (<i1> ^subtask-handle subtask19 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t341608-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category extinguisher1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 supply1 ^category room1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle fetch1 ^item-type task-operator ^name op_fetch12
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask19)
+    (<a1> ^2 <o3> ^handle from1 ^arg-type partial-predicate)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t341616-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t341663-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^2 <i4> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t343037-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a10> > arg2 } <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t343037-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a10> > arg2 } <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t518177-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t518177-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t518216-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask25)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t534012-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t534012-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t534012-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t534012-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t534012-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697053-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697053-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697053-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697053-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697053-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697069-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697069-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697069-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697069-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697069-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697088-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697088-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697088-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697088-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697088-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697099-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s3>
+          ^{ <a9> > arg2 } <a10> ^{ <a11> > arg2 } <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> < <h5> }
+          -^handle { <h7> <> <h5> <> <h6> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697099-2
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s3>
+          ^{ <a9> > arg2 } <a10> ^{ <a11> > arg2 } <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> < <h5> }
+          -^handle { <h7> <> <h5> <> <h6> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697099-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s2> ^{ <a5> > arg2 } <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697128-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal21)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697137-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int20 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697148-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int20 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697626-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category post1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal29
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t697637-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal29 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal29 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t697664-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal29)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal29)
+    (<i1> ^subtask-handle subtask28 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t697689-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask28)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t697696-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697725-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal29)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697734-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int30 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697745-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int30 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698195-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int34 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t698206-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int34)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int34 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t698383-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int34)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1term36
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698392-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1term36 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t698403-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1term36)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1term36 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t698429-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*tried-tied-operator*OpNoChange*t698444-1
+    :chunk
+    (state <s1> ^untried-tied-operator <u1> ^operator <u1> ^problem-space <p1>)
+    (<p1> ^execution-type internal ^name action)
+    (<u1> ^task-handle <t1>)
+    -->
+    (<s1> ^untried-tied-operator <u1> - ^tried-tied-operator <u1>)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*update*current-evaluation-depth*OpNoChange*t698444-2
+    :chunk
+    (state <s1> ^problem-space <p1> ^current-evaluation-depth <c1>
+          ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^current-evaluation-depth <c1> -
+           ^current-evaluation-depth (- <c1> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*increment*plan-length*OpNoChange*t698444-3
+    :chunk
+    (state <s1> ^problem-space <p1> ^plan-length <p2> ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^plan-length <p2> - ^plan-length (+ <p2> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*performed-subtask*OpNoChange*t698444-4
+    :chunk
+    (state <s1> ^operator <o1> ^problem-space <p1> ^current-task-segment <c1>)
+    (<o1> ^item-type task-operator ^subtask-handle <s2> ^task-handle <t1>)
+    (<p1> ^execution-type internal ^name action)
+    -->
+    (<c1> ^performed-subtask <s2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698444-5
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698444-6
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698444-7
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698444-8
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698444-9
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t698456-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+   -{ (<t2> ^{ <a6> <> <a4> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<c2> ^{ <a9> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    (<a12> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698460-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698460-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698460-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <o6>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o5> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698460-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <o6>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o5> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698460-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t698695-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1start39)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1start39 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699002-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1start39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal43
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t699013-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal43 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal43 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal43)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal43)
+    (<i1> ^subtask-handle subtask42 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t699070-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask42)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 emergency1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask42)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699353-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal43)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal47
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t699364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal47 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal47 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category hall1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699393-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal47)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal47)
+    (<i1> ^subtask-handle subtask46 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t699408-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^is-confirmed1 confirmed1 ^category hall1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask46)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t744643-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal47)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal50
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t744654-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal50 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal50 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category alarm1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t744683-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal50)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal50)
+    (<i1> ^subtask-handle subtask49 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t744696-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category alarm1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask49)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793866-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal50)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal56
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t793877-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal56 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal56 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t793915-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal56)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal56)
+    (<i1> ^subtask-handle subtask55 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t793935-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category officer1 ^name co1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg2 <a1>
+           ^arg1 <a2> ^subtask-handle subtask55)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+    (<a2> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t793943-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793973-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle say1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t793982-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t794000-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal2)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^arg1 <a2> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle say1goal2)
+    (<i3> ^2 <i1> ^1 <i2> ^handle heard2 ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t794013-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    (<o1> ^<i2> <i3>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^2 <i3> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i4> ^arg-type object)
+    (<i4> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t794019-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i3>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4>)
+    (<p1> ^<a1> <a2> ^<a3> { <a4> > <a2> } -^<a5> { <a6> <> <a4> <> <a2> })
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i5> ^pred-count 1)
+    (<i5> ^2 <i6> ^1 <i4> ^handle <h1> ^type relation)
+    (<i6> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a3> <a4> ^<a1> <a2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t794026-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t794026-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t794065-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask59)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t925585-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t925585-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t925624-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask62)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934259-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934297-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934297-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934297-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934297-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934297-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934311-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934311-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934311-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934311-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934311-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934549-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal56)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal64
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t934560-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal64 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal64 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934587-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal64)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal64)
+    (<i1> ^subtask-handle subtask63 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t934611-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask63)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t935474-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal64)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal67
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t935485-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal67 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal67 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t935512-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal67)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal67)
+    (<i1> ^subtask-handle subtask66 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t935534-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask66)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1150160-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal67)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1term69
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1150169-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1term69 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1150180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1term69)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1term69 ^item-type terminal-goal)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1150232-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a10> <a18>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a10> > <a1> } <a11>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a3> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a4> <a5> ^<a6> { <a7> > <a5> } -^<a8> { <a9> <> <a7> <> <a5> })
+    (<p1> ^<a4> <a5> ^<a6> <a7>)
+   -{ (<t2> ^{ <a12> <> <a10> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+   -{ (<c2> ^{ <a15> <> <a10> <> <a1> } <a16>)
+      (<a16> ^arg-type <a17>)}
+    (<a11> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a18> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1150235-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1150235-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1150235-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1150235-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1150235-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__WHENEVER__PROP__*problem-space*action*propose*whenever*task*OpNoChange*t1150630-1
+    :chunk
+    (state <s1> ^world <w1> -^child-task-segment <c1> ^problem-space <p1>
+          ^task-operator <t1> ^name <n1>)
+    (<p1> ^subproblem execute ^name action)
+    (<w1> ^objects <o1>)
+    (<t1> ^name <n1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-visible1 visible1 ^category fire1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^whenever-handle whenever72 ^task-handle raise1
+           ^item-type task-operator ^name op_raise138 ^arg1 <a1>)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^category fire-alarm1)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156601-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1start77)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1start77 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156775-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1start77)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal82
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1156786-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal82 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal82 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156811-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal82)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal82)
+    (<i1> ^subtask-handle subtask81 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1156829-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask81)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle ask1 ^item-type task-operator ^name op_ask1
+           ^modifiers <m1> ^arg1 <a1> ^subtask-handle subtask81)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t1156836-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156857-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156870-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1156879-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156894-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1goal1)
+    (<t1> ^task-handle ask1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ask1goal1)
+    (<i1> ^command-name ask-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158176-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1158185-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1158195-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158511-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal82)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal87
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1158522-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal87 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal87 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 relieving1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 answered1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1158560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal87)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal87)
+    (<i1> ^subtask-handle subtask86 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1158586-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask86)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 answered1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 relieving1 ^is-confirmed1 not-confirmed1
+          ^category officer1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask86)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1159009-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal87)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1159018-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1repeat92 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159033-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1repeat92)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1159291-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal94 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal94 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name messhall1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159320-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal94)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal94)
+    (<i1> ^subtask-handle subtask93 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1159344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask93)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303016-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal105)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal105)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303022-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal105)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int102
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303031-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int102 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1303042-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int102 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303057-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int102)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal101
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1303068-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal101 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal101 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303110-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal101)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal101)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1303130-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category plate1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category sink1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle move1 ^item-type task-operator ^name op_move198
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask99)
+    (<a1> ^2 <o3> ^handle in1 ^arg-type partial-predicate)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1303163-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1start108)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1start108 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303576-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1start108)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1goal109
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303585-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1goal109 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303604-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1goal109)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle <h1>)
+    (<a2> ^arg-type partial-predicate ^2 <i2>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle move1goal109)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303671-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303671-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303672-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303672-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1303711-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask111)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304626-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle in1)
+    (<a2> ^arg-type partial-predicate ^2 { <i2> <> <i1> })
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object <i2>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<i2> ^predicates <p3>)
+    (<p3> ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a4> ^arg1 <a5> ^subtask-handle subtask112)
+    (<a4> ^2 <i2> ^handle in1 ^arg-type partial-predicate)
+    (<a5> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1304674-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle put-down1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1304683-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1304701-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal2)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle <h1>)
+    (<a2> ^arg-type partial-predicate ^2 <i2>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle put-down1goal2)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1304723-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1304723-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304762-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask113)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305002-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305002-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1305041-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask114)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305711-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305742-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305742-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305742-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^2 <i5> ^1 <i6> ^handle <h1>)
+    (<i2> ^type relation ^1 <i3> ^2 <i4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i5>)
+    (<a10> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i5> ^object <i6> ^object <i4> ^object <i3>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305742-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^2 <i5> ^1 <i6> ^handle <h1>)
+    (<i2> ^type relation ^1 <i3> ^2 <i4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i5>)
+    (<a10> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i5> ^object <i6> ^object <i4> ^object <i3>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305742-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305757-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305757-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305757-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h5>
+          ^handle <h6>)
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h4>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h2>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305757-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h5>
+          ^handle <h6>)
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h4>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h2>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305757-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305790-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1goal109)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1term110
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305799-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1term110 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1305810-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1term110)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1term110 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305838-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305838-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305838-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i5> ^object <i3> ^object <i6> ^object <i4>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305838-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i5> ^object <i3> ^object <i6> ^object <i4>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305838-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305853-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305853-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305853-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg1 <a2>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305853-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg1 <a2>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305853-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305884-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal101)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int100
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305893-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int100 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1305904-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int100)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int100 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1306594-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int120 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1306616-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal118
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1306627-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal118 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal118 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category condiment1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1306656-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal118)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal118)
+    (<i1> ^subtask-handle subtask117 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1306680-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle store1 ^item-type task-operator ^name op_store1116
+           ^arg1 <a1> ^subtask-handle subtask117)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1306711-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1start127 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1307451-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1start127)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle store1goal129
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1307460-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1goal129 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> store1goal129 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category fridge1)
+    (<i2> ^default <d2>)
+    (<d2> ^category fridge1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1307508-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1goal129)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category fridge1)
+    (<o3> ^predicates <p2>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^2 <i2> ^1 <i3> ^pred-count 2 ^handle store1goal129)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+    (<i3> ^1 <o3> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1307520-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h3>)
+    (<i1> ^type relation ^handle <h2> ^2 <i3> ^1 <i5>)
+    (<i2> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i4>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i6> ^<i5> <i7> ^<i4> <i8>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h3> ^2 <i9> ^1 <i10> ^pred-count 2)
+    (<i9> ^2 <i6> ^1 <i7> ^handle <h2> ^type relation)
+    (<i10> ^1 <i8> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308081-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308081-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308083-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308083-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308107-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308107-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308108-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 not-open1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308108-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 not-open1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308147-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 not-open1 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle open1 ^item-type task-operator ^name op_open1
+           ^arg1 <a2> ^subtask-handle subtask132)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1308171-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1308177-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1308186-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1308203-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1goal1)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle open1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle open2 ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308225-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308225-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308264-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask133)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308601-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308601-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308640-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask134)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1309467-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1309476-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1309486-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309516-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309516-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309516-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309516-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309516-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309531-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309531-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309531-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309531-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309531-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1309605-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask135)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1311501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object { <o2> <> <i1> })
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<o2> ^predicates <p3>)
+    (<p3> ^affordance1 openable1 ^affordance1 receptacle1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a2> ^arg1 <a3> ^subtask-handle subtask136)
+    (<a2> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313339-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle close1 ^item-type task-operator ^name op_close1
+           ^arg1 <a2> ^subtask-handle subtask137)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1313363-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313376-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313385-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313402-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1goal1)
+    (<t1> ^task-handle close1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle close1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313537-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313546-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313556-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1goal129)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle store1term128
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1term128 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313593-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1term128)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1term128 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313622-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1> ^instance <i9>)
+    (<i9> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h2> ^instance <i10> -^dont-copy <i10>)
+    (<i10> -^3 <i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313622-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1> ^instance <i9>)
+    (<i9> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h2> ^instance <i10> -^dont-copy <i10>)
+    (<i10> -^3 <i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313622-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i3> ^1 <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313637-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313637-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313637-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i7> ^object <i4> ^object <i8> ^object <i5>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+    (<a11> ^arg-type object ^id <i7>)
+   -{ (<t2> ^{ <a14> <> <a12> } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type object ^id <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313637-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i7> ^object <i4> ^object <i8> ^object <i5>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+    (<a11> ^arg-type object ^id <i7>)
+   -{ (<t2> ^{ <a14> <> <a12> } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type object ^id <i8>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313637-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313652-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313652-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313652-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313652-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313652-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313668-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313668-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313668-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313668-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313668-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_open1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313699-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal118)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313708-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int119 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1313719-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int119 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313916-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313937-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^contents1 empty1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal35
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1313948-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal35 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal35 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313975-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal35)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal35)
+    (<i1> ^subtask-handle subtask33 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313995-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-off1 ^item-type task-operator ^name op_turn-off1
+           ^arg1 <a2> ^subtask-handle subtask33)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1314019-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1314025-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1314034-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1314051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1goal1)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-off1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle not-activated1
+           ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314073-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314073-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314112-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask139)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314719-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314719-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314758-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask140)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1317740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1317750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317780-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317780-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317780-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317780-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317780-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317795-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317795-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317795-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317795-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317795-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317826-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal35)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318165-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal94)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal142
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1318176-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal142 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal142 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category post1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318207-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal142)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal142)
+    (<i1> ^subtask-handle subtask141 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1318231-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^category post1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask141)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1318255-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start123)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start123 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318268-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start123)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal122
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1318279-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal122 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318294-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal122)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int121 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1448045-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int121)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int121 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448080-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int120 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448093-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448162-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448404-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal142)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal146
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1448415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal146 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal146 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name motorpool1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1448444-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal146)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal146)
+    (<i1> ^subtask-handle subtask145 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1448468-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask145)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1618144-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal122)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal124
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1618155-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal124 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal124 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1618180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal124)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal124)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621127-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal124)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int121
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1621591-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal156)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal156)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621604-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal156)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621613-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int153 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1621624-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int153 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int153)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal151
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1621937-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask158)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1622254-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category dispatcher1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask160)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622504-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 lockable1 ^is-confirmed1 confirmed1 ^category vehicle1
+          ^<a2> not-locked1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle lock1 ^item-type task-operator ^name op_lock1
+           ^arg1 <a3> ^subtask-handle subtask162)
+    (<a3> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1622528-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1622534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1622543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1622560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1goal1)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle lock1goal1)
+    (<i2> ^1 <i1> ^property-handle is-locked1 ^handle locked1 ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1622582-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1622582-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622621-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask163)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1623746-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1623746-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1623785-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask164)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626571-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626580-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1626590-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626626-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626626-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626626-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626626-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626626-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626641-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626641-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626641-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626641-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626641-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1626835-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal151)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^3 <i1> ^2 <i2> ^1 <i3> ^pred-count 3 ^handle inspect1goal151)
+    (<i1> ^subtask-handle subtask162 ^type subtask)
+    (<i2> ^subtask-handle subtask160 ^type subtask)
+    (<i3> ^subtask-handle subtask158 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626848-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal151)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626857-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int152 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1626868-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int152 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1627128-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^3 <i4> ^2 <i5> ^1 <i6>
+           ^pred-count 3)
+    (<i4> ^subtask-handle <s4> ^type subtask)
+    (<i5> ^subtask-handle <s3> ^type subtask)
+    (<i6> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627129-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627129-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627129-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s6> ^subtask-handle <s7> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627129-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s6> ^subtask-handle <s7> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627129-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627147-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s6> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627147-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s6> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627147-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627147-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627147-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s3> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627163-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627163-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627163-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627163-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627163-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1633285-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal146)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal166
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1633296-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal166 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal166 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^possessive cos1 ^category office1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1633327-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal166)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal166)
+    (<i1> ^subtask-handle subtask165 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1633349-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^possessive cos1 ^is-confirmed1 confirmed1 ^category office1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask165)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754621-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal166)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1repeat92)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 confirmed1 ^category officer1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle guard1exit91
+           ^next-goal-type loop-exit ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754651-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1exit91 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1754666-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1exit91)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1exit91)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754843-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1exit91)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1term168
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754852-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1term168 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1754863-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1term168)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1term168 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t1754935-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1754940-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a10> <a18>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a10> > <a1> } <a11>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a3> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a4> <a5> ^<a6> { <a7> > <a5> } -^<a8> { <a9> <> <a7> <> <a5> })
+    (<p1> ^<a4> <a5> ^<a6> <a7>)
+   -{ (<t2> ^{ <a12> <> <a10> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+   -{ (<c2> ^{ <a15> <> <a10> <> <a1> } <a16>)
+      (<a16> ^arg-type <a17>)}
+    (<a11> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a18> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1754944-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<s2> ^name <n1>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1754944-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<s2> ^name <n1>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1754944-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type modifiers ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1754944-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type modifiers ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1754944-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
diff --git a/examples/interior-guard-old/full-training-chunks.soar b/examples/interior-guard-old/full-training-chunks.soar
new file mode 100644
index 0000000000..2f6f5e7082
--- /dev/null
+++ b/examples/interior-guard-old/full-training-chunks.soar
@@ -0,0 +1,14348 @@
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1754944-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1754944-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type modifiers ^handle <h5>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1754944-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type modifiers ^handle <h5>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1754944-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<s2> ^name <n2>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1754944-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<s2> ^name <n2>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1754940-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a12> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> })
+    (<p2> ^<a13> <a14> -^<a17> { <a18> <> <a14> <> <a16> } ^<a15> <a16>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t1754935-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1754863-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1term168)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1term168 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754852-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1term168 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754843-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1exit91)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1term168
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1754666-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1exit91)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1exit91)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754651-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1exit91 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 confirmed1 ^category officer1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle guard1exit91
+           ^next-goal-type loop-exit ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754621-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal166)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1633349-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^possessive cos1 ^is-confirmed1 confirmed1 ^category office1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask165)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1633327-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal166)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal166)
+    (<i1> ^subtask-handle subtask165 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1633296-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal166 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal166 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^possessive cos1 ^category office1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1633285-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal146)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal166
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627163-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627163-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s6>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627163-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s6>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627163-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627163-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627147-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s3> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627147-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s4>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s3> ^subtask-handle <s4> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627147-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s4>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s3> ^subtask-handle <s4> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627147-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s6> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627147-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s6> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627129-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627129-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s7>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627129-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s7>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627129-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627129-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1627128-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^3 <i4> ^2 <i5> ^1 <i6>
+           ^pred-count 3)
+    (<i4> ^subtask-handle <s4> ^type subtask)
+    (<i5> ^subtask-handle <s3> ^type subtask)
+    (<i6> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1626868-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int152 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626857-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int152 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626848-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal151)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1626835-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal151)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^3 <i1> ^2 <i2> ^1 <i3> ^pred-count 3 ^handle inspect1goal151)
+    (<i1> ^subtask-handle subtask162 ^type subtask)
+    (<i2> ^subtask-handle subtask160 ^type subtask)
+    (<i3> ^subtask-handle subtask158 ^type subtask)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626641-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626641-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626641-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626641-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626641-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626626-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626626-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626626-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626626-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626626-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1626590-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626580-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626571-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1623785-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask164)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1623746-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1623746-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622621-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask163)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1622582-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1622582-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1622560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1goal1)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle lock1goal1)
+    (<i2> ^1 <i1> ^property-handle is-locked1 ^handle locked1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1622543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1622534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1622528-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622504-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 lockable1 ^is-confirmed1 confirmed1 ^category vehicle1
+          ^<a2> not-locked1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle lock1 ^item-type task-operator ^name op_lock1
+           ^arg1 <a3> ^subtask-handle subtask162)
+    (<a3> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1622254-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category dispatcher1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask160)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1621937-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask158)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+#sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621651-1
+#    :chunk
+#    (state <s1> ^task-operator <t1> ^operator <o1>)
+#    (<t1> ^task-handle inspect1)
+#    (<o1> ^next-goal-handle inspect1goal151 ^name select-next-goal)
+#    -->
+#    (<s1> ^apply-select-next-goal true)
+#}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal151
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1621624-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int153 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621613-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int153 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621604-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal156)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1621591-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal156)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal156)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621127-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal124)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int121
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1618180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal124)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal124)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1618155-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal124 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal124 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1618144-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal124
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1448468-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask145)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1448444-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal146)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal146)
+    (<i1> ^subtask-handle subtask145 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1448415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal146 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal146 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name motorpool1 ^category room1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448404-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal142)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal146
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448162-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448093-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448080-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int120 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1448045-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int121)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int121 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int121 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318294-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal122)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1318279-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal122 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318268-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start123)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal122
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1318255-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start123)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start123 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1318231-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^category post1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask141)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318207-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal142)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal142)
+    (<i1> ^subtask-handle subtask141 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1318176-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal142 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal142 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category post1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318165-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal94)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal142
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317826-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal35)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317795-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317795-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317795-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317795-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317795-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317780-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317780-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317780-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317780-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317780-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1317750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1317740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314758-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask140)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314719-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314719-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314112-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask139)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314073-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314073-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1314051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1goal1)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-off1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle not-activated1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1314034-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1314025-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1314019-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313995-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-off1 ^item-type task-operator ^name op_turn-off1
+           ^arg1 <a2> ^subtask-handle subtask33)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313975-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal35)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal35)
+    (<i1> ^subtask-handle subtask33 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1313948-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal35 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal35 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313937-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^contents1 empty1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal35
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313916-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1313719-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int119 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313708-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int119 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313699-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal118)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313668-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_open1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313668-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313668-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313668-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313668-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313652-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313652-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313652-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313652-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313652-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313637-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313637-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s4> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i7> ^object <i5> ^object <i8>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+   -{ (<t1> ^{ <a12> <> <a10> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type object ^id <i7>)
+    (<a16> ^arg-type object ^id <i8>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313637-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s4> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i7> ^object <i5> ^object <i8>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+   -{ (<t1> ^{ <a12> <> <a10> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type object ^id <i7>)
+    (<a16> ^arg-type object ^id <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313637-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313637-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313622-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h1>)
+    (<i1> ^type relation ^2 <i3> ^handle <h2> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i3> ^1 <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313622-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i4> ^handle <h2> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h4> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h2> ^instance <i9> -^dont-copy <i9>)
+    (<i9> -^3 <i10> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h4> ^instance <i11>)
+    (<i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313622-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i4> ^handle <h2> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h4> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h2> ^instance <i9> -^dont-copy <i9>)
+    (<i9> -^3 <i10> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h4> ^instance <i11>)
+    (<i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313593-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1term128)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1term128 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1term128 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1goal129)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle store1term128
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313556-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313546-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313537-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313402-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1goal1)
+    (<t1> ^task-handle close1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle close1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313385-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313376-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1313363-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313339-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle close1 ^item-type task-operator ^name op_close1
+           ^arg1 <a2> ^subtask-handle subtask137)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1311501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object { <o2> <> <i1> })
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<o2> ^predicates <p3>)
+    (<p3> ^affordance1 openable1 ^affordance1 receptacle1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a2> ^arg1 <a3> ^subtask-handle subtask136)
+    (<a2> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1309605-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask135)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309531-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309531-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309531-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309531-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309531-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309516-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309516-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309516-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309516-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309516-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1309486-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1309476-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1309467-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308640-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask134)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308601-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308601-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308264-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask133)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308225-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308225-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1308203-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1goal1)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle open1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle open2 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1308186-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1308177-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1308171-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308147-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 not-open1 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle open1 ^item-type task-operator ^name op_open1
+           ^arg1 <a2> ^subtask-handle subtask132)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308108-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308108-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308107-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308107-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308083-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308083-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308081-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308081-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1307520-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h1>)
+    (<i1> ^type relation ^handle <h3> ^2 <i3> ^1 <i5>)
+    (<i2> ^type unary ^property-handle <p1> ^handle <h2> ^1 <i4>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i4> <i6> ^<i5> <i7> ^<i3> <i8>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^2 <i9> ^1 <i10> ^pred-count 2)
+    (<i9> ^2 <i8> ^1 <i7> ^handle <h3> ^type relation)
+    (<i10> ^1 <i6> ^property-handle <p1> ^handle <h2> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1307508-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1goal129)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category fridge1)
+    (<o3> ^predicates <p2>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^2 <i2> ^1 <i3> ^pred-count 2 ^handle store1goal129)
+    (<i2> ^2 <o3> ^1 <i1> ^handle in1 ^type relation)
+    (<i3> ^1 <o2> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1307460-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1goal129 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> store1goal129 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category fridge1)
+    (<i2> ^default <d2>)
+    (<d2> ^category fridge1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1307451-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle store1goal129
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1306711-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1start127 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1306680-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle store1 ^item-type task-operator ^name op_store1116
+           ^arg1 <a1> ^subtask-handle subtask117)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1306656-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal118)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal118)
+    (<i1> ^subtask-handle subtask117 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1306627-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal118 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal118 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category condiment1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1306616-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal118
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1306594-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int120 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1305904-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int100)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int100 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305893-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int100 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305884-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal101)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int100
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305853-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305853-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305853-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305853-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305853-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305838-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305838-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i5> ^object <i4> ^object <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305838-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i5> ^object <i4> ^object <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305838-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305838-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1305810-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1term110)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1term110 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305799-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1term110 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305790-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1goal109)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1term110
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305757-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305757-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h4>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305757-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h4>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305757-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305757-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305742-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305742-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h4>)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<a10> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3> ^object <i6> ^object <i5>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305742-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h4>)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<a10> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3> ^object <i6> ^object <i5>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305742-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305742-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305711-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1305041-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask114)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305002-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305002-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304762-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask113)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1304723-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1304723-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1304701-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal2)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type partial-predicate ^handle <h1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle put-down1goal2)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1304683-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1304674-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle put-down1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304626-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 { <i2> <> <i1> })
+    (<a2> ^arg-type partial-predicate ^handle in1)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object <i2>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<i2> ^predicates <p3>)
+    (<p3> ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a4> ^arg1 <a5> ^subtask-handle subtask112)
+    (<a4> ^2 <i2> ^handle in1 ^arg-type partial-predicate)
+    (<a5> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1303711-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask111)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303672-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303672-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303671-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303671-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303604-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1goal109)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type partial-predicate ^handle <h1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle move1goal109)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303585-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1goal109 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303576-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1start108)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1goal109
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1303163-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1start108)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1start108 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1303130-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sink1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category plate1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle move1 ^item-type task-operator ^name op_move198
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask99)
+    (<a1> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303110-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal101)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal101)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1303068-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal101 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal101 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303057-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal101
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1303042-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int102 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303031-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int102 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303022-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal105)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int102
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303016-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal105)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal105)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1159344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask93)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159320-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal94)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal94)
+    (<i1> ^subtask-handle subtask93 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1159291-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal94 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal94 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name messhall1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159033-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1repeat92)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1159018-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1repeat92 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1159009-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal87)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1158586-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask86)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 not-confirmed1
+          ^category officer1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 answered1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask86)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1158560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal87)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal87)
+    (<i1> ^subtask-handle subtask86 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1158522-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal87 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal87 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 relieving1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 answered1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158511-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal82)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal87
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1158195-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1158185-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158176-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156894-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1goal1)
+    (<t1> ^task-handle ask1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ask1goal1)
+    (<i1> ^command-name ask-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1156879-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156870-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156857-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t1156836-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1156829-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask81)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle ask1 ^item-type task-operator ^name op_ask1
+           ^modifiers <m1> ^arg1 <a1> ^subtask-handle subtask81)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156811-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal82)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal82)
+    (<i1> ^subtask-handle subtask81 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1156786-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal82 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal82 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156775-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1start77)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal82
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156601-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1start77)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1start77 ^item-type start-goal)
+}
+
+sp {chunkx2*__WHENEVER__PROP__*problem-space*action*propose*whenever*task*OpNoChange*t1150630-1
+    :chunk
+    (state <s1> ^world <w1> -^child-task-segment <c1> ^problem-space <p1>
+          ^task-operator <t1> ^name <n1>)
+    (<p1> ^subproblem execute ^name action)
+    (<w1> ^objects <o1>)
+    (<t1> ^name <n1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-visible1 visible1 ^category fire1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^whenever-handle whenever72 ^task-handle raise1
+           ^item-type task-operator ^name op_raise138 ^arg1 <a1>)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^category fire-alarm1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1150235-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1150235-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1150235-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1150235-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1150235-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1150232-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a3> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> })
+    (<p2> ^<a13> <a14> -^<a17> { <a18> <> <a14> <> <a16> } ^<a15> <a16>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1150180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1term69)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1term69 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1150169-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1term69 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1150160-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal67)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1term69
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t935534-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask66)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t935512-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal67)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal67)
+    (<i1> ^subtask-handle subtask66 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t935485-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal67 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal67 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t935474-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal64)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal67
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t934611-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask63)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934587-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal64)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal64)
+    (<i1> ^subtask-handle subtask63 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t934560-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal64 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal64 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934549-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal56)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal64
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934311-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934311-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934311-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934311-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934311-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934297-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934297-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934297-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934297-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934297-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934259-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t925624-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask62)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t925585-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t925585-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t794065-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask59)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t794026-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t794026-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t794019-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i3>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4>)
+    (<p1> ^<a1> <a2> ^<a3> { <a4> < <a2> } -^<a5> { <a6> <> <a2> <> <a4> })
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i5> ^pred-count 1)
+    (<i5> ^2 <i6> ^1 <i4> ^handle <h2> ^type relation)
+    (<i6> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a1> <a2> ^<a3> <a4>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t794013-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i4> ^arg-type object)
+    (<i4> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t794000-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal2)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^arg1 <a2> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle say1goal2)
+    (<i3> ^2 <i1> ^1 <i2> ^handle heard2 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t793982-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793973-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle say1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t793943-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t793935-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category officer1 ^name co1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg2 <a1>
+           ^arg1 <a2> ^subtask-handle subtask55)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+    (<a2> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t793915-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal56)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal56)
+    (<i1> ^subtask-handle subtask55 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t793877-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal56 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal56 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793866-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal50)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal56
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t744696-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category alarm1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask49)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t744683-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal50)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal50)
+    (<i1> ^subtask-handle subtask49 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t744654-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal50 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal50 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category alarm1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t744643-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal47)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal50
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t699408-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^is-confirmed1 confirmed1 ^category hall1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask46)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699393-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal47)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal47)
+    (<i1> ^subtask-handle subtask46 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t699364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal47 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal47 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category hall1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699353-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal43)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal47
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t699070-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask42)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask42)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal43)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal43)
+    (<i1> ^subtask-handle subtask42 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t699013-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal43 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal43 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699002-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1start39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal43
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t698695-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1start39)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1start39 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698460-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698460-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type partial-predicate ^2 <o6> ^handle <h4>)
+    (<a11> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698460-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type partial-predicate ^2 <o6> ^handle <h4>)
+    (<a11> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698460-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698460-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t698456-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a3> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698444-9
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698444-8
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698444-7
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698444-6
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698444-5
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*performed-subtask*OpNoChange*t698444-4
+    :chunk
+    (state <s1> ^operator <o1> ^problem-space <p1> ^current-task-segment <c1>)
+    (<o1> ^item-type task-operator ^subtask-handle <s2> ^task-handle <t1>)
+    (<p1> ^execution-type internal ^name action)
+    -->
+    (<c1> ^performed-subtask <s2>)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*increment*plan-length*OpNoChange*t698444-3
+    :chunk
+    (state <s1> ^problem-space <p1> ^plan-length <p2> ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^plan-length <p2> - ^plan-length (+ <p2> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*update*current-evaluation-depth*OpNoChange*t698444-2
+    :chunk
+    (state <s1> ^problem-space <p1> ^current-evaluation-depth <c1>
+          ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^current-evaluation-depth <c1> -
+           ^current-evaluation-depth (- <c1> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*tried-tied-operator*OpNoChange*t698444-1
+    :chunk
+    (state <s1> ^untried-tied-operator <u1> ^operator <u1> ^problem-space <p1>)
+    (<p1> ^execution-type internal ^name action)
+    (<u1> ^task-handle <t1>)
+    -->
+    (<s1> ^untried-tied-operator <u1> - ^tried-tied-operator <u1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t698429-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t698403-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1term36)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1term36 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698392-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1term36 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t698383-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int34)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1term36
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t698206-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int34)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int34 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698195-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int34 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697745-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int30 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697734-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int30 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697725-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal29)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t697696-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t697689-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask28)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t697664-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal29)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal29)
+    (<i1> ^subtask-handle subtask28 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t697637-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal29 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal29 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697626-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category post1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal29
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697148-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int20 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697137-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int20 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697128-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal21)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697099-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s2> ^{ <a5> > arg2 } <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697099-2
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s4>
+          ^{ <a9> > arg2 } <a10> ^{ <a19> > arg2 } <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> > <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697099-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s4>
+          ^{ <a9> > arg2 } <a10> ^{ <a19> > arg2 } <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> > <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697088-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697088-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697088-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697088-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697088-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697069-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697069-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697069-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697069-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697069-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697053-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697053-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697053-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697053-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697053-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t534012-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t534012-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t534012-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t534012-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t534012-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t518216-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask25)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t518177-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t518177-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t343037-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a5> > arg2 } <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t343037-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a5> > arg2 } <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t341663-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t341616-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t341608-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 supply1 ^category room1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category extinguisher1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle fetch1 ^item-type task-operator ^name op_fetch12
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask19)
+    (<a1> ^2 <o2> ^handle from1 ^arg-type partial-predicate)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t341588-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal21)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal21)
+    (<i1> ^subtask-handle subtask19 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t341548-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal21 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal21 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 supply1 ^category room1)
+    (<i2> ^default <d2>)
+    (<d2> ^category extinguisher1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t341537-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t340864-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int7 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340853-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int7 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340844-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int7
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340815-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340815-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340815-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340815-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340815-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340800-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340800-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340800-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340800-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340800-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t340770-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340760-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340751-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t326722-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t299848-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask15)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t299809-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t299809-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299787-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299777-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299768-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299751-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299741-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299732-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286339-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1goal1)
+    (<t1> ^task-handle face1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle face1goal1)
+    (<i1> ^command-name face-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286324-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286315-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286300-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286276-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1goal2)
+    (<t1> ^task-handle view1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle view1goal2)
+    (<i2> ^1 <i1> ^property-handle is-visible1 ^handle visible1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286259-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286250-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1goal2
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286237-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286213-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask14)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t286174-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t286174-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286152-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1goal1)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-on1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle activated1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286135-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286126-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286120-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286096-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask5)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286083-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal6)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal6)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t286056-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286045-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal6
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t285610-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t285600-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t285591-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t250395-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> ^name copy-task-operator ^task-operator <t1> ^copy-name <c1>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1>)
+   -{ (<t1> ^<a1> <a2>)
+      (<a2> ^arg-type <a3>)}
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t39421-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t39411-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t39402-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t16138-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1goal1)
+    (<t1> ^task-handle go-to-xy1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle goto-xy1goal1)
+    (<i1> ^command-name go-to-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t16123-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t16114-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t739-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t718-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type coordinate ^coord <c2>)
+    (<c2> -^z <z1> ^y <y1> ^x <x1>)
+    -->
+    (<d1> ^<c1> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^coord <c4> ^arg-type coordinate)
+    (<c4> ^y <y1> ^x <x1>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t607-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id { <i1> <> <c1> })
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a2> ^subtask-handle subtask3)
+    (<a2> ^2 <i1> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal4)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t576-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal4 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t565-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal4
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t330-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start2)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start2 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a3> <a8>
+           ^<a1> <a9>)
+    (<a8> ^2 <i4> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i4> ^<i3> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i4> ^1 <i5> ^handle <h1> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask <p1> -^performed-subtask subtask8)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h2> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy category
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy category
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+    (<a4> ^arg-type object ^id <i3>)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h2> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i4> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>
+          ^{ <a7> > <a4> } <a8>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<a6> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a9> <> <a7> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<c2> ^{ <a12> <> <a7> <> <a4> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h2> <> <h1> }
+          ^handle <h2>)
+    (<a15> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a11> <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> > <h5> }
+          -^handle { <h7> <> <h6> <> <h5> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a11> <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> > <h5> }
+          -^handle { <h7> <> <h6> <> <h5> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a7> > <a1> } <a8> ^{ <a9> > <a7> } <a10>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a3> <a4> -^<a5> { <a6> <> <a4> })
+    (<a8> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a11> <> <a9> <> <a7> <> <a1> } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a9> <a14> ^<a7> <a15> ^<a1> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a3> <a4>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^pred-count 1 ^arg-type temporal-clause ^1 <i2>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p2> ^handle <h3>)
+    (<i3> -^abstract true)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a16> ^<a3> <a17> ^<a1> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i3> ^property-handle <p2> ^handle <h3> ^type unary)
+    (<a17> ^handle <h1> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a12> <a13> ^<a10> <a11>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a6> <a7>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a3> <a8>
+           ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a6> <a7>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p1> ^<a10> <a11> ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> } ^<a12> <a13>
+          ^<a14> { <a15> > <a13> } -^<a16> { <a17> <> <a15> <> <a13> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> } ^<a12> <a13>
+          ^<a14> { <a15> > <a13> } -^<a16> { <a17> <> <a15> <> <a13> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+    (<a4> ^arg-type object ^id <i3>)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i4> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>
+          ^{ <a7> > <a4> } <a8>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<a6> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a9> <> <a7> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<c2> ^{ <a12> <> <a7> <> <a4> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a15> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6> ^<a7> <a8>
+          ^{ <a9> > <a7> } <a10> ^{ <a11> > <a9> } <a12>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+    (<a6> ^arg-type modifiers ^handle <h3>)
+    (<a8> ^arg-type object ^id <o6>)
+    (<a10> ^arg-type object ^id <o5>)
+   -{ (<o1> ^{ <a13> <> <a11> <> <a9> <> <a7> } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6> ^<a7> <a8>
+          ^{ <a9> > <a7> } <a10> ^{ <a11> > <a9> } <a12>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+    (<a6> ^arg-type modifiers ^handle <h3>)
+    (<a8> ^arg-type object ^id <o6>)
+    (<a10> ^arg-type object ^id <o5>)
+   -{ (<o1> ^{ <a13> <> <a11> <> <a9> <> <a7> } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
diff --git a/examples/interior-guard-old/interior-guard-old.world b/examples/interior-guard-old/interior-guard-old.world
new file mode 100644
index 0000000000..edffa4738a
--- /dev/null
+++ b/examples/interior-guard-old/interior-guard-old.world
@@ -0,0 +1,1451 @@
+"soargroup.mobilesim.sim.SimRobot"
+{
+  # Robot ID
+  6
+  # XYZRPY Truth
+  vec 6
+    5.50  12.50   0.10   0.00   0.00   0.00
+  # XYZRPY Odometry
+  vec 6
+    0.00   0.00   0.00   0.00   0.00   0.00
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+    2.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+    6.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+   10.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+   14.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+   18.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+   22.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  bunk
+  # Object xyz
+  vec 3
+   26.50  18.75   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    130 130 130
+  # Properties
+  3
+    custom-model
+    color=gray1
+    category=bunk1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+    4.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+    8.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+   12.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+   16.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+   20.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+   24.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  shelf
+  # Object xyz
+  vec 3
+   28.50  19.50   1.00
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.50   2.00   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 100
+  # Properties
+  3
+    custom-model
+    color=blue1
+    category=shelf1
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  mercer
+  # Object xyz
+  vec 3
+   16.00  16.50   0.95
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    0 0 100
+  # Properties
+  2
+    name=mercer1
+    category=officer1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  table
+  # Object xyz
+  vec 3
+    7.00  11.50   0.45
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    0.90   1.90   0.90
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  3
+    category=table1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  desk
+  # Object xyz
+  vec 3
+    2.00  12.00   0.45
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.90   1.90   0.90
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  3
+    category=desk1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  chair
+  # Object xyz
+  vec 3
+    1.00  12.25   0.50
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.50   0.50   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    20 100 20
+  # Properties
+  3
+    custom-model
+    color=green1
+    category=chair1
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  co
+  # Object xyz
+  vec 3
+    6.80  12.50   0.95
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    0 0 100
+  # Properties
+  3
+    name=co1
+    modifier1=commanding1
+    category=officer1
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  sentry
+  # Object xyz
+  vec 3
+   29.00  12.50   0.95
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    125 100 50
+  # Properties
+  1
+    category=sentry1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  table
+  # Object xyz
+  vec 3
+   29.00  11.50   0.45
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    0.90   1.90   0.90
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  4
+    color=brown1
+    category=table1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  radio
+  # Object xyz
+  vec 3
+   28.50  11.50   1.04
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    50 50 50
+  # Properties
+  2
+    color=black1
+    category=radio1
+}
+"soargroup.mobilesim.sim.SimAlarm"
+{
+  # Object Description
+  Alarm
+  # Object xyz
+  vec 3
+   22.05  10.88   0.50
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.25   0.50   0.50
+  # Color rgb (int 0-255)
+  ivec 3
+    255 0 0
+  # Properties
+  3
+    color=red1
+    category=alarm1
+    is-activated1=not-activated1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  table
+  # Object xyz
+  vec 3
+   11.50  10.00   0.25
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.50   4.00   0.50
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  4
+    color=brown1
+    category=table1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.SimFridge"
+{
+  # Object Description
+  fridge
+  # Object xyz
+  vec 3
+   17.75  12.38   1.01
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.75   1.50   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    200 200 200
+  # Properties
+  2
+    category=fridge1
+    is-open1=not-open1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  counter
+  # Object xyz
+  vec 3
+   19.25  11.00   0.38
+  # Rotation (yaw)
+  3.141592653589793
+  # Scale xyz
+  vec 3
+    1.00   2.00   0.75
+  # Color rgb (int 0-255)
+  ivec 3
+    250 230 140
+  # Properties
+  3
+    category=counter1
+    box
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  sink
+  # Object xyz
+  vec 3
+   19.25   9.12   0.62
+  # Rotation (yaw)
+  3.141592653589793
+  # Scale xyz
+  vec 3
+    1.00   1.73   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    150 150 150
+  # Properties
+  4
+    category=sink1
+    openbox
+    receptacle
+    drain
+}
+"soargroup.mobilesim.sim.SimStove"
+{
+  # Object Description
+  stove
+  # Object xyz
+  vec 3
+   18.00   7.75   0.38
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    1.00   1.50   0.75
+  # Color rgb (int 0-255)
+  ivec 3
+    200 200 200
+  # Properties
+  2
+    category=stove1
+    is-activated1=not-activated1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  garbage
+  # Object xyz
+  vec 3
+   16.50   7.50   0.31
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    0.50   1.00   0.60
+  # Color rgb (int 0-255)
+  ivec 3
+    80 150 80
+  # Properties
+  3
+    category=garbage1
+    openbox
+    receptacle
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  plate
+  # Object xyz
+  vec 3
+   12.00  11.00   0.54
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.05
+  # Color rgb (int 0-255)
+  ivec 3
+    225 225 225
+  # Properties
+  3
+    cylinder
+    color=white1
+    category=plate1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  ketchup
+  # Object xyz
+  vec 3
+   12.00  10.00   0.73
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.20   0.20   0.45
+  # Color rgb (int 0-255)
+  ivec 3
+    255 0 0
+  # Properties
+  3
+    cylinder
+    color=red1
+    category=ketchup1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  mustard
+  # Object xyz
+  vec 3
+   17.50   4.00   0.73
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.20   0.20   0.45
+  # Color rgb (int 0-255)
+  ivec 3
+    150 150 0
+  # Properties
+  3
+    cylinder
+    color=yellow1
+    category=mustard1
+}
+"soargroup.mobilesim.sim.BoxObject"
+{
+  # Object xyz
+  vec 3
+   19.25   7.75   0.38
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   1.00   0.75
+  # Color rgb (int 0-255)
+  ivec 3
+    250 230 140
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  sentry
+  # Object xyz
+  vec 3
+    1.00   7.50   0.95
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    125 100 50
+  # Properties
+  1
+    category=sentry1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  table
+  # Object xyz
+  vec 3
+    1.00   8.50   0.45
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    0.90   1.90   0.90
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  4
+    color=brown1
+    category=table1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  radio
+  # Object xyz
+  vec 3
+    1.50   8.50   1.04
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    50 50 50
+  # Properties
+  2
+    color=black1
+    category=radio1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  extinguisher
+  # Object xyz
+  vec 3
+   23.00  14.25   0.25
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.30   0.30   0.50
+  # Color rgb (int 0-255)
+  ivec 3
+    255 0 0
+  # Properties
+  4
+    custom-model
+    shape=cylinder1
+    color=red1
+    category=extinguisher1
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  dispatcher
+  # Object xyz
+  vec 3
+   12.00   4.00   0.95
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 100 50
+  # Properties
+  1
+    category=dispatcher1
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  sentry
+  # Object xyz
+  vec 3
+    7.00   4.00   0.95
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    125 100 50
+  # Properties
+  1
+    category=sentry1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  table
+  # Object xyz
+  vec 3
+    1.00   2.50   0.25
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   4.00   0.50
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  3
+    category=table1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  table
+  # Object xyz
+  vec 3
+   14.00   2.50   0.25
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   4.00   0.50
+  # Color rgb (int 0-255)
+  ivec 3
+    94 76 28
+  # Properties
+  3
+    category=table1
+    custom-model
+    surface
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  cabinet
+  # Object xyz
+  vec 3
+   12.00   0.50   1.00
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    2.00   0.50   2.00
+  # Color rgb (int 0-255)
+  ivec 3
+    25 25 25
+  # Properties
+  2
+    color=black1
+    category=cabinet1
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  truck
+  # Object xyz
+  vec 3
+    4.00   2.00   0.50
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    3.00   1.50   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    0 100 0
+  # Properties
+  4
+    custom-model
+    color=green1
+    is-locked1=not-locked1
+    category=truck1
+}
+"soargroup.mobilesim.sim.SimLightSwitch"
+{
+  # Object Description
+  LS
+  # Object xyz
+  vec 3
+   10.50  15.12   0.62
+  # Rotation (yaw)
+  1.5707963267948966
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    255 255 255
+  # Properties
+  2
+    category=lightswitch1
+    is-activated1=activated1
+    wp01
+}
+"soargroup.mobilesim.sim.SimLightSwitch"
+{
+  # Object Description
+  LS
+  # Object xyz
+  vec 3
+    7.88  12.50   0.62
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    255 255 255
+  # Properties
+  2
+    category=lightswitch1
+    is-activated1=activated1
+    wp02
+}
+"soargroup.mobilesim.sim.SimLightSwitch"
+{
+  # Object Description
+  LS
+  # Object xyz
+  vec 3
+   22.12  11.50   0.62
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    255 255 255
+  # Properties
+  2
+    category=lightswitch1
+    is-activated1=activated1
+    wp03
+}
+"soargroup.mobilesim.sim.SimLightSwitch"
+{
+  # Object Description
+  LS
+  # Object xyz
+  vec 3
+   13.50  12.88   0.62
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    255 255 255
+  # Properties
+  2
+    category=lightswitch1
+    is-activated1=not-activated1
+    wp04
+}
+"soargroup.mobilesim.sim.SimLightSwitch"
+{
+  # Object Description
+  LS
+  # Object xyz
+  vec 3
+    7.88   8.50   0.62
+  # Rotation (yaw)
+  3.141592653589793
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    255 255 255
+  # Properties
+  2
+    category=lightswitch1
+    is-activated1=activated1
+    wp06
+}
+"soargroup.mobilesim.sim.SimLightSwitch"
+{
+  # Object Description
+  LS
+  # Object xyz
+  vec 3
+    7.50   4.88   0.62
+  # Rotation (yaw)
+  4.71238898038469
+  # Scale xyz
+  vec 3
+    0.25   0.25   0.25
+  # Color rgb (int 0-255)
+  ivec 3
+    255 255 255
+  # Properties
+  2
+    category=lightswitch1
+    is-activated1=activated1
+    wp08
+}
+"soargroup.mobilesim.sim.RosieSimObject"
+{
+  # Object Description
+  fire
+  # Object xyz
+  vec 3
+   25.00   4.00   0.50
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    255 0 0
+  # Properties
+  3
+    cone
+    color=red1
+    category=fire1
+}
+"soargroup.mobilesim.sim.SimPerson"
+{
+  # Object Description
+  williams
+  # Object xyz
+  vec 3
+   17.00  16.50   0.95
+  # Rotation (yaw)
+  0.0
+  # Scale xyz
+  vec 3
+    1.00   1.00   1.00
+  # Color rgb (int 0-255)
+  ivec 3
+    0 0 100
+  # Properties
+  2
+    name=williams1
+    category=officer1
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    0.00   0.00
+  # End Point 2
+  vec 2
+    0.00  20.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    0.00  20.00
+  # End Point 2
+  vec 2
+   30.00  20.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   30.00  20.00
+  # End Point 2
+  vec 2
+   30.00   0.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   30.00   0.00
+  # End Point 2
+  vec 2
+    0.00   0.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    0.00  15.00
+  # End Point 2
+  vec 2
+    8.00  15.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   10.00  15.00
+  # End Point 2
+  vec 2
+   20.00  15.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   22.00  15.00
+  # End Point 2
+  vec 2
+   30.00  15.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   10.00  13.00
+  # End Point 2
+  vec 2
+   14.00  13.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   16.00  13.00
+  # End Point 2
+  vec 2
+   20.00  13.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   20.00  13.00
+  # End Point 2
+  vec 2
+   20.00   7.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   20.00   7.00
+  # End Point 2
+  vec 2
+   16.00   7.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   14.00   7.00
+  # End Point 2
+  vec 2
+   10.00   7.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   10.00   7.00
+  # End Point 2
+  vec 2
+   10.00  13.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    0.00  11.00
+  # End Point 2
+  vec 2
+    8.00  11.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   22.00   9.00
+  # End Point 2
+  vec 2
+   30.00   9.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    8.00   5.00
+  # End Point 2
+  vec 2
+    8.00   9.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    8.00  11.00
+  # End Point 2
+  vec 2
+    8.00  13.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   22.00   7.00
+  # End Point 2
+  vec 2
+   22.00   9.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   22.00  11.00
+  # End Point 2
+  vec 2
+   22.00  15.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   16.00   0.00
+  # End Point 2
+  vec 2
+   16.00   5.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+    0.00   5.00
+  # End Point 2
+  vec 2
+    8.00   5.00
+}
+"soargroup.mobilesim.sim.SimRoomWall"
+{
+  # End Point 1
+  vec 2
+   10.00   5.00
+  # End Point 2
+  vec 2
+   30.00   5.00
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp01
+  # Tag Position
+  vec 6
+   15.00  16.50   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  30.0
+  3.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp02
+  # Tag Position
+  vec 6
+    4.00  13.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  8.0
+  4.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp03
+  # Tag Position
+  vec 6
+   26.00  13.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  8.0
+  4.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp04
+  # Tag Position
+  vec 6
+   15.00  10.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  10.0
+  6.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp06
+  # Tag Position
+  vec 6
+    4.00   7.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  8.0
+  4.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp07
+  # Tag Position
+  vec 6
+   26.00   6.50   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  8.0
+  3.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp08
+  # Tag Position
+  vec 6
+    8.00   2.50   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  16.0
+  5.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp09
+  # Tag Position
+  vec 6
+   23.00   2.50   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  14.0
+  5.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp10
+  # Tag Position
+  vec 6
+    9.00  10.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  2.0
+  6.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp11
+  # Tag Position
+  vec 6
+    9.00  14.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  2.0
+  2.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp12
+  # Tag Position
+  vec 6
+   15.00  14.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  10.0
+  2.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp13
+  # Tag Position
+  vec 6
+   21.00  14.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  2.0
+  2.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp14
+  # Tag Position
+  vec 6
+   21.00  10.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  2.0
+  6.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp15
+  # Tag Position
+  vec 6
+   21.00   6.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  2.0
+  2.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp16
+  # Tag Position
+  vec 6
+   15.00   6.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  10.0
+  2.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp17
+  # Tag Position
+  vec 6
+    9.00   6.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  2.0
+  2.0
+}
+"soargroup.mobilesim.sim.SimRegion"
+{
+  # Region ID
+  wp18
+  # Tag Position
+  vec 6
+   26.00  10.00   0.01   0.00   0.00   0.00
+  # Width (dx) and Length (dy)
+  8.0
+  2.0
+}
diff --git a/examples/interior-guard-old/internal-world.soar b/examples/interior-guard-old/internal-world.soar
new file mode 100644
index 0000000000..b06367e625
--- /dev/null
+++ b/examples/interior-guard-old/internal-world.soar
@@ -0,0 +1,158 @@
+### Autogenerated world file from create_internal_world.py
+### Used to test actions in a simulated world
+
+sp {top-state*domain*internal*elaborate*internal-world*world
+   (state <s> ^superstate nil
+              ^agent-params <params>)
+   (<params> ^domain internal)
+-->
+   (<params> ^simulate-perception true)
+   (<s> ^internal-world <w>)
+   (<w> ^starting-location wp02
+        ^objects <objs>)
+
+   (<objs> ^object <obj15>)
+   (<obj15> ^handle officer1_15 ^perc-id |15| ^waypoint wp01 ^predicates <obj15-preds>)
+   (<obj15-preds> ^name mercer1 ^category officer1)
+
+   (<objs> ^object <obj16>)
+   (<obj16> ^handle table1_16 ^perc-id |16| ^waypoint wp02 ^predicates <obj16-preds>)
+   (<obj16-preds> ^category table1)
+
+   (<objs> ^object <obj17>)
+   (<obj17> ^handle desk1_17 ^perc-id |17| ^waypoint wp02 ^predicates <obj17-preds>)
+   (<obj17-preds> ^category desk1)
+
+   (<objs> ^object <obj18>)
+   (<obj18> ^handle chair1_18 ^perc-id |18| ^waypoint wp02 ^predicates <obj18-preds>)
+   (<obj18-preds> ^color green1 ^category chair1)
+
+   (<objs> ^object <obj19>)
+   (<obj19> ^handle officer1_19 ^perc-id |19| ^waypoint wp02 ^predicates <obj19-preds>)
+   (<obj19-preds> ^name co1 ^modifier1 commanding1 ^category officer1)
+
+   (<objs> ^object <obj20>)
+   (<obj20> ^handle sentry1_20 ^perc-id |20| ^waypoint wp03 ^predicates <obj20-preds>)
+   (<obj20-preds> ^category sentry1)
+
+   (<objs> ^object <obj21>)
+   (<obj21> ^handle table1_21 ^perc-id |21| ^waypoint wp03 ^predicates <obj21-preds>)
+   (<obj21-preds> ^color brown1 ^category table1)
+
+   (<objs> ^object <obj22>)
+   (<obj22> ^handle radio1_22 ^perc-id |22| ^waypoint wp03 ^predicates <obj22-preds>)
+   (<obj22-preds> ^color black1 ^category radio1)
+
+   (<objs> ^object <obj23>)
+   (<obj23> ^handle alarm1_23 ^perc-id |23| ^waypoint wp18 ^predicates <obj23-preds>)
+   (<obj23-preds> ^color red1 ^category alarm1 ^is-activated1 not-activated1)
+
+   (<objs> ^object <obj24>)
+   (<obj24> ^handle table1_24 ^perc-id |24| ^waypoint wp04 ^predicates <obj24-preds>)
+   (<obj24-preds> ^color brown1 ^category table1)
+
+   (<objs> ^object <obj25>)
+   (<obj25> ^handle fridge1_25 ^perc-id |25| ^waypoint wp04 ^predicates <obj25-preds>)
+   (<obj25-preds> ^category fridge1 ^is-open1 not-open1)
+
+   (<objs> ^object <obj26>)
+   (<obj26> ^handle counter1_26 ^perc-id |26| ^waypoint wp04 ^predicates <obj26-preds>)
+   (<obj26-preds> ^category counter1)
+
+   (<objs> ^object <obj27>)
+   (<obj27> ^handle sink1_27 ^perc-id |27| ^waypoint wp04 ^predicates <obj27-preds>)
+   (<obj27-preds> ^category sink1)
+
+   (<objs> ^object <obj28>)
+   (<obj28> ^handle stove1_28 ^perc-id |28| ^waypoint wp04 ^predicates <obj28-preds>)
+   (<obj28-preds> ^category stove1 ^is-activated1 not-activated1)
+
+   (<objs> ^object <obj29>)
+   (<obj29> ^handle garbage1_29 ^perc-id |29| ^waypoint wp04 ^predicates <obj29-preds>)
+   (<obj29-preds> ^category garbage1)
+
+   (<objs> ^object <obj30>)
+   (<obj30> ^handle plate1_30 ^perc-id |30| ^waypoint wp04 ^predicates <obj30-preds>)
+   (<obj30-preds> ^color white1 ^category plate1)
+
+   (<objs> ^object <obj31>)
+   (<obj31> ^handle ketchup1_31 ^perc-id |31| ^waypoint wp04 ^predicates <obj31-preds>)
+   (<obj31-preds> ^color red1 ^category ketchup1)
+
+   (<objs> ^object <obj32>)
+   (<obj32> ^handle mustard1_32 ^perc-id |32| ^waypoint wp09 ^predicates <obj32-preds>)
+   (<obj32-preds> ^color yellow1 ^category mustard1)
+
+   (<objs> ^object <obj34>)
+   (<obj34> ^handle sentry1_34 ^perc-id |34| ^waypoint wp06 ^predicates <obj34-preds>)
+   (<obj34-preds> ^category sentry1)
+
+   (<objs> ^object <obj35>)
+   (<obj35> ^handle table1_35 ^perc-id |35| ^waypoint wp06 ^predicates <obj35-preds>)
+   (<obj35-preds> ^color brown1 ^category table1)
+
+   (<objs> ^object <obj36>)
+   (<obj36> ^handle radio1_36 ^perc-id |36| ^waypoint wp06 ^predicates <obj36-preds>)
+   (<obj36-preds> ^color black1 ^category radio1)
+
+   (<objs> ^object <obj37>)
+   (<obj37> ^handle extinguisher1_37 ^perc-id |37| ^waypoint wp03 ^predicates <obj37-preds>)
+   (<obj37-preds> ^shape cylinder1 ^color red1 ^category extinguisher1)
+
+   (<objs> ^object <obj38>)
+   (<obj38> ^handle dispatcher1_38 ^perc-id |38| ^waypoint wp08 ^predicates <obj38-preds>)
+   (<obj38-preds> ^category dispatcher1)
+
+   (<objs> ^object <obj39>)
+   (<obj39> ^handle sentry1_39 ^perc-id |39| ^waypoint wp08 ^predicates <obj39-preds>)
+   (<obj39-preds> ^category sentry1)
+
+   (<objs> ^object <obj40>)
+   (<obj40> ^handle table1_40 ^perc-id |40| ^waypoint wp08 ^predicates <obj40-preds>)
+   (<obj40-preds> ^category table1)
+
+   (<objs> ^object <obj41>)
+   (<obj41> ^handle table1_41 ^perc-id |41| ^waypoint wp08 ^predicates <obj41-preds>)
+   (<obj41-preds> ^category table1)
+
+   (<objs> ^object <obj42>)
+   (<obj42> ^handle cabinet1_42 ^perc-id |42| ^waypoint wp08 ^predicates <obj42-preds>)
+   (<obj42-preds> ^color black1 ^category cabinet1)
+
+   (<objs> ^object <obj43>)
+   (<obj43> ^handle truck1_43 ^perc-id |43| ^waypoint wp08 ^predicates <obj43-preds>)
+   (<obj43-preds> ^color green1 ^is-locked1 not-locked1 ^category truck1)
+
+   (<objs> ^object <obj44>)
+   (<obj44> ^handle lightswitch1_44 ^perc-id |44| ^waypoint wp01 ^predicates <obj44-preds>)
+   (<obj44-preds> ^category lightswitch1 ^is-activated1 activated1)
+
+   (<objs> ^object <obj45>)
+   (<obj45> ^handle lightswitch1_45 ^perc-id |45| ^waypoint wp02 ^predicates <obj45-preds>)
+   (<obj45-preds> ^category lightswitch1 ^is-activated1 activated1)
+
+   (<objs> ^object <obj46>)
+   (<obj46> ^handle lightswitch1_46 ^perc-id |46| ^waypoint wp03 ^predicates <obj46-preds>)
+   (<obj46-preds> ^category lightswitch1 ^is-activated1 activated1)
+
+   (<objs> ^object <obj47>)
+   (<obj47> ^handle lightswitch1_47 ^perc-id |47| ^waypoint wp04 ^predicates <obj47-preds>)
+   (<obj47-preds> ^category lightswitch1 ^is-activated1 not-activated1)
+
+   (<objs> ^object <obj48>)
+   (<obj48> ^handle lightswitch1_48 ^perc-id |48| ^waypoint wp06 ^predicates <obj48-preds>)
+   (<obj48-preds> ^category lightswitch1 ^is-activated1 activated1)
+
+   (<objs> ^object <obj49>)
+   (<obj49> ^handle lightswitch1_49 ^perc-id |49| ^waypoint wp08 ^predicates <obj49-preds>)
+   (<obj49-preds> ^category lightswitch1 ^is-activated1 activated1)
+
+   (<objs> ^object <obj50>)
+   (<obj50> ^handle fire1_50 ^perc-id |50| ^waypoint wp09 ^predicates <obj50-preds>)
+   (<obj50-preds> ^color red1 ^category fire1)
+
+   (<objs> ^object <obj51>)
+   (<obj51> ^handle officer1_51 ^perc-id |51| ^waypoint wp01 ^predicates <obj51-preds>)
+   (<obj51-preds> ^name williams1 ^category officer1)
+
+}
diff --git a/examples/interior-guard/p20201202_084229_573.png b/examples/interior-guard-old/p20201202_084229_573.png
similarity index 100%
rename from examples/interior-guard/p20201202_084229_573.png
rename to examples/interior-guard-old/p20201202_084229_573.png
diff --git a/examples/interior-guard-old/script.txt b/examples/interior-guard-old/script.txt
new file mode 100644
index 0000000000..593d09a841
--- /dev/null
+++ b/examples/interior-guard-old/script.txt
@@ -0,0 +1,166 @@
+## Train Fetch (Pre-loaded in fetch-chunks.soar & extra-smem-adds.soar)
+#Fetch a radio from the eastern sentry-post.
+#The only goal is that the radio is in the starting location.
+#First, remember the current location as the starting location.
+#
+## Train Ensure
+#Go to the eastern sentry-post.
+#Ensure a sentry is present. 
+#If a sentry is present then finish the task. 
+#
+#Ensure a dispatcher is present. 
+#Remember the current location as the starting location. 
+#Find the CO. 
+#The CO is in the CO's office. 
+#Describe the sentry. 
+#!CMD SKIP .
+#Say "is not present". 
+#!CMD SKIP .
+#Describe the starting location. 
+#!CMD SKIP .
+#Go to the starting location.
+#You are done. 
+
+### TEACH INSPECT
+Inspect the eastern sentry-post. 
+Go to the eastern sentry-post. 
+If the lightswitch is off then turn on the lightswitch. 
+If you are in a sentry-post and an extinguisher is not present then fetch an extinguisher from the supply room. 
+If you are in a sentry-post then ensure a sentry is present.
+If the current location is empty then turn off the lightswitch. 
+You are done. 
+
+### TEACH RAISE ALARM
+Raise a fire-alarm. 
+Remember the current location as the emergency location. 
+Go to the eastern hallway. 
+Turn on the alarm.
+Say "There is a fire." to the CO. 
+The CO is in the CO's office. 
+!CMD SKIP .
+Describe the emergency location.
+!CMD SKIP .
+Go to the emergency location.
+You are done. 
+
+Whenever you see a fire then raise a fire-alarm. 
+
+
+# Turn off the fire alarm 
+!CMD off 23 .
+
+
+### TEACH GUARD
+Guard the barracks.
+Ask "Who is my relieving officer?".
+Officer Mercer. 
+Remember the answer as the relieving officer. 
+Repeat the following tasks until the relieving officer is present. 
+
+
+### Inspect messhall
+Inspect the messhall. 
+
+# TRIGGER: Turning on the lights in the messhall
+# Put the plate/ketchup on the table and interrupt inspect
+!CMD place 30 on1 24 .
+!CMD place 31 on1 24 .
+Interrupt inspect. 
+
+If you are in the messhall and a plate is on the table then move the plate into the sink. 
+The only goal is that the plate is in the sink. 
+
+If you are in the messhall and a condiment is on the table then store the condiment. 
+If it is a condiment then the only goal is that the condiment is in the fridge and the fridge is closed. 
+
+Continue inspect.
+
+### Inspect eastern sentry-post
+Inspect the eastern sentry-post. 
+
+### Inspect motorpool
+Inspect the motorpool. 
+
+# TRIGGER: Turning on the lights in the motorpool
+Interrupt inspect. 
+
+If you are in the motorpool then complete the following tasks. 
+Ensure a sentry is present. 
+Ensure a dispatcher is present. 
+Lock a vehicle.
+You are done. 
+
+Continue inspect. 
+
+# Move Mercer to the CO's office
+!CMD teleport 15 3.34 11.50 0.90 wp02
+
+Go to the CO's office. 
+
+Repeat. 
+
+You are done.
+
+!CMD cli stop .
+
+##### TESTING
+#Guard the barracks.
+#Officer Williams. 
+#
+#### Inspect Messhall #1
+## Move plate onto the table
+#!CMD place 30 on1 24 .
+#!CMD SKIP .
+#
+#
+#### Inspect Eastern Sentry Post #1
+## Remove the sentry
+#!CMD teleport 20 21.00 3.00 0.90 wp09 .
+#!CMD SKIP .
+## Ignore the ensure reporting messages
+#!CMD SKIP .
+#!CMD SKIP .
+#!CMD SKIP .
+#
+#
+#### Inspect Motorpool #1
+## Move a fire to the motorpool
+#!CMD teleport 49 7.00 1.00 0.50 wp08 .
+## Move the CO to the messhall
+#!CMD teleport 19 13.00 8.00 0.90 wp04 .
+#!CMD SKIP .
+## Dont help find the CO
+#Unknown.
+## Ignore fire messages - remove fire from motorpool
+#!CMD SKIP .
+#!CMD teleport 49 20.00 4.00 0.50 wp09 .
+#!CMD SKIP .
+#
+#
+#### Inspect Messhall #2
+## Remove ketchup, add mustard onto table
+#!CMD teleport 31 19.00 4.00 0.20 wp09 .
+#!CMD teleport 32 13.00 10.00 1.00 wp04 .
+#!CMD place 32 on1 24 .
+#!CMD SKIP .
+#
+#
+#### Inspect Eastern Sentry Post #2
+## Put the sentry back, remove the extinguisher
+#!CMD teleport 20 29.00 12.50 0.90 wp09 .
+#!CMD teleport 36 24.00 8.00 0.20 wp07 .
+#!CMD SKIP .
+#
+#
+#### Inspect Motorpool #2
+## Remove the dispatcher
+#!CMD teleport 37 21.00 3.00 0.90 wp09 .
+## Move Williams to the CO's office
+#!CMD teleport 50 3.34 11.50 0.90 wp02.
+#!CMD teleport 15 8.00 17.00 0.90 wp01 .
+#!CMD SKIP .
+#
+## Ignore the ensure reporting messages
+#!CMD skip .
+#!CMD skip .
+#!CMD skip .
diff --git a/examples/interior-guard-old/smem-config.txt b/examples/interior-guard-old/smem-config.txt
new file mode 100644
index 0000000000..7aa6e114eb
--- /dev/null
+++ b/examples/interior-guard-old/smem-config.txt
@@ -0,0 +1,57 @@
+process-file full-training-tcns.soar
+
+template proper-name _HANDLE_ _WORD_* {
+    alice1 alice
+    bob1 bob
+    charlie1 charlie
+	co1 co
+	williams1 williams
+	mercer1 mercer
+}
+
+template possessive _HANDLE_ _WORD_* {
+    alices1 alice's
+    bobs1 bob's
+    charlies1 charlie's
+	cos1 co's
+}
+
+template modifier _HANDLE_ _TYPE_ _WORD_* {
+	commanding1 ADJ commanding
+	relieving1 ADJ relieving
+	firey1 ADJ firey
+	emergency1 ADJ emergency
+	supply1 ADJ supply
+}
+
+template category _HANDLE_ _WORD_ _SUPER_ _AFFORDANCE_* {
+	bunk1 bunk furniture1
+	radio1 radio appliance1 grabbable1
+	alarm1 alarm appliance1 activatable1
+	fire-alarm1 fire-alarm event1 
+	extinguisher1 extinguisher object grabbable1
+	fire1 fire object
+
+	vehicle1 vehicle object lockable1
+	car1 car vehicle1 lockable1
+	truck1 truck vehicle1 lockable1
+
+	officer1 officer person
+	sentry1 sentry person
+	armorer1 armorer person
+	dispatcher1 dispatcher person
+	chef1 chef person
+
+	post1 sentry-post room1
+	barracks1 barracks location
+
+}
+
+template name _HANDLE_ _WORDTYPE_ _WORD_* {
+	messhall1 N messhall 
+	armory1 N armory 
+	motorpool1 N motorpool 
+	quarters1 N quarters 
+}
+
+
diff --git a/examples/interior-guard/testing.txt b/examples/interior-guard-old/testing.txt
similarity index 100%
rename from examples/interior-guard/testing.txt
rename to examples/interior-guard-old/testing.txt
diff --git a/examples/interior-guard/training-tcns.txt b/examples/interior-guard-old/training-tcns.txt
similarity index 100%
rename from examples/interior-guard/training-tcns.txt
rename to examples/interior-guard-old/training-tcns.txt
diff --git a/examples/interior-guard-old/waypoint-map.soar b/examples/interior-guard-old/waypoint-map.soar
new file mode 100644
index 0000000000..96c6905cf0
--- /dev/null
+++ b/examples/interior-guard-old/waypoint-map.soar
@@ -0,0 +1,150 @@
+sp {topstate*elaborate*map
+   (state <s> ^superstate nil)
+-->
+   (<s> ^maps <maps>)
+   (<maps> ^map <building> <world>)
+
+   (<world> ^handle world-map ^waypoint <bwp01>)
+   (<bwp01> ^handle bwp01 ^x 0 ^y 0 ^map <world> ^sub-map <building>)
+
+   ### BUILDING ###
+
+   (<building> ^handle bmap1 ^super-waypoint <bwp01>
+       ^waypoint <wp01> <wp02> <wp03> <wp04> <wp06> 
+       ^waypoint <wp07> <wp08> <wp09> <wp10> <wp11> 
+       ^waypoint <wp12> <wp13> <wp14> <wp15> <wp16> 
+       ^waypoint <wp17> <wp18> )
+
+   ### WAYPOINTS ###
+
+  (<wp01> ^handle wp01 ^x 15.0 ^y 16.5 ^map <building>)
+   (<wp01> ^edge <e_wp01_wp11>)
+    (<e_wp01_wp11> ^start <wp01> ^end <wp11> 
+         ^doorway true ^door_sx 8.999877796077783 ^door_sy 15.599999987555167 ^door_ex 9.000122203922217 ^door_ey 14.400000012444833)
+
+  (<wp02> ^handle wp02 ^x 4.0 ^y 13.0 ^map <building>)
+   (<wp02> ^edge <e_wp02_wp11>)
+    (<e_wp02_wp11> ^start <wp02> ^end <wp11> 
+         ^doorway false)
+
+  (<wp03> ^handle wp03 ^x 26.0 ^y 13.0 ^map <building>)
+   (<wp03> ^edge <e_wp03_wp18>)
+    (<e_wp03_wp18> ^start <wp03> ^end <wp18> 
+         ^doorway false)
+
+  (<wp04> ^handle wp04 ^x 15.0 ^y 10.0 ^map <building>)
+   (<wp04> ^edge <e_wp04_wp12>)
+    (<e_wp04_wp12> ^start <wp04> ^end <wp12> 
+         ^doorway true ^door_sx 14.99976661177507 ^door_sy 12.400000045391721 ^door_ex 15.00023338822493 ^door_ey 13.599999954608279)
+   (<wp04> ^edge <e_wp04_wp16>)
+    (<e_wp04_wp16> ^start <wp04> ^end <wp16> 
+         ^doorway true ^door_sx 14.999877796077783 ^door_sy 7.599999987555168 ^door_ex 15.000122203922217 ^door_ey 6.400000012444832)
+
+  (<wp06> ^handle wp06 ^x 4.0 ^y 7.0 ^map <building>)
+
+  (<wp07> ^handle wp07 ^x 26.0 ^y 6.5 ^map <building>)
+   (<wp07> ^edge <e_wp07_wp15>)
+    (<e_wp07_wp15> ^start <wp07> ^end <wp15> 
+         ^doorway false)
+
+  (<wp08> ^handle wp08 ^x 8.0 ^y 2.5 ^map <building>)
+   (<wp08> ^edge <e_wp08_wp17>)
+    (<e_wp08_wp17> ^start <wp08> ^end <wp17> 
+         ^doorway true ^door_sx 8.99976661177507 ^door_sy 4.400000045391721 ^door_ex 9.00023338822493 ^door_ey 5.599999954608279)
+
+  (<wp09> ^handle wp09 ^x 23.0 ^y 2.5 ^map <building>)
+
+  (<wp10> ^handle wp10 ^x 9.0 ^y 10.0 ^map <building>)
+   (<wp10> ^edge <e_wp10_wp11>)
+    (<e_wp10_wp11> ^start <wp10> ^end <wp11> 
+         ^doorway false)
+   (<wp10> ^edge <e_wp10_wp17>)
+    (<e_wp10_wp17> ^start <wp10> ^end <wp17> 
+         ^doorway false)
+
+  (<wp11> ^handle wp11 ^x 9.0 ^y 14.0 ^map <building>)
+   (<wp11> ^edge <e_wp11_wp02>)
+    (<e_wp11_wp02> ^start <wp11> ^end <wp02> 
+         ^doorway false)
+   (<wp11> ^edge <e_wp11_wp01>)
+    (<e_wp11_wp01> ^start <wp11> ^end <wp01> 
+         ^doorway true ^door_sx 9.000122203922217 ^door_sy 14.400000012444833 ^door_ex 8.999877796077783 ^door_ey 15.599999987555167)
+   (<wp11> ^edge <e_wp11_wp10>)
+    (<e_wp11_wp10> ^start <wp11> ^end <wp10> 
+         ^doorway false)
+   (<wp11> ^edge <e_wp11_wp12>)
+    (<e_wp11_wp12> ^start <wp11> ^end <wp12> 
+         ^doorway false)
+
+  (<wp12> ^handle wp12 ^x 15.0 ^y 14.0 ^map <building>)
+   (<wp12> ^edge <e_wp12_wp04>)
+    (<e_wp12_wp04> ^start <wp12> ^end <wp04> 
+         ^doorway true ^door_sx 15.00023338822493 ^door_sy 13.599999954608279 ^door_ex 14.99976661177507 ^door_ey 12.400000045391721)
+   (<wp12> ^edge <e_wp12_wp11>)
+    (<e_wp12_wp11> ^start <wp12> ^end <wp11> 
+         ^doorway false)
+   (<wp12> ^edge <e_wp12_wp13>)
+    (<e_wp12_wp13> ^start <wp12> ^end <wp13> 
+         ^doorway false)
+
+  (<wp13> ^handle wp13 ^x 21.0 ^y 14.0 ^map <building>)
+   (<wp13> ^edge <e_wp13_wp12>)
+    (<e_wp13_wp12> ^start <wp13> ^end <wp12> 
+         ^doorway false)
+   (<wp13> ^edge <e_wp13_wp14>)
+    (<e_wp13_wp14> ^start <wp13> ^end <wp14> 
+         ^doorway false)
+
+  (<wp14> ^handle wp14 ^x 21.0 ^y 10.0 ^map <building>)
+   (<wp14> ^edge <e_wp14_wp13>)
+    (<e_wp14_wp13> ^start <wp14> ^end <wp13> 
+         ^doorway false)
+   (<wp14> ^edge <e_wp14_wp15>)
+    (<e_wp14_wp15> ^start <wp14> ^end <wp15> 
+         ^doorway false)
+   (<wp14> ^edge <e_wp14_wp18>)
+    (<e_wp14_wp18> ^start <wp14> ^end <wp18> 
+         ^doorway false)
+
+  (<wp15> ^handle wp15 ^x 21.0 ^y 6.0 ^map <building>)
+   (<wp15> ^edge <e_wp15_wp07>)
+    (<e_wp15_wp07> ^start <wp15> ^end <wp07> 
+         ^doorway false)
+   (<wp15> ^edge <e_wp15_wp14>)
+    (<e_wp15_wp14> ^start <wp15> ^end <wp14> 
+         ^doorway false)
+   (<wp15> ^edge <e_wp15_wp16>)
+    (<e_wp15_wp16> ^start <wp15> ^end <wp16> 
+         ^doorway false)
+
+  (<wp16> ^handle wp16 ^x 15.0 ^y 6.0 ^map <building>)
+   (<wp16> ^edge <e_wp16_wp04>)
+    (<e_wp16_wp04> ^start <wp16> ^end <wp04> 
+         ^doorway true ^door_sx 15.000122203922217 ^door_sy 6.400000012444832 ^door_ex 14.999877796077783 ^door_ey 7.599999987555168)
+   (<wp16> ^edge <e_wp16_wp15>)
+    (<e_wp16_wp15> ^start <wp16> ^end <wp15> 
+         ^doorway false)
+   (<wp16> ^edge <e_wp16_wp17>)
+    (<e_wp16_wp17> ^start <wp16> ^end <wp17> 
+         ^doorway false)
+
+  (<wp17> ^handle wp17 ^x 9.0 ^y 6.0 ^map <building>)
+   (<wp17> ^edge <e_wp17_wp08>)
+    (<e_wp17_wp08> ^start <wp17> ^end <wp08> 
+         ^doorway true ^door_sx 9.00023338822493 ^door_sy 5.599999954608279 ^door_ex 8.99976661177507 ^door_ey 4.400000045391721)
+   (<wp17> ^edge <e_wp17_wp16>)
+    (<e_wp17_wp16> ^start <wp17> ^end <wp16> 
+         ^doorway false)
+   (<wp17> ^edge <e_wp17_wp10>)
+    (<e_wp17_wp10> ^start <wp17> ^end <wp10> 
+         ^doorway false)
+
+  (<wp18> ^handle wp18 ^x 26.0 ^y 10.0 ^map <building>)
+   (<wp18> ^edge <e_wp18_wp03>)
+    (<e_wp18_wp03> ^start <wp18> ^end <wp03> 
+         ^doorway false)
+   (<wp18> ^edge <e_wp18_wp14>)
+    (<e_wp18_wp14> ^start <wp18> ^end <wp14> 
+         ^doorway false)
+
+}
diff --git a/examples/interior-guard-old/world.info b/examples/interior-guard-old/world.info
new file mode 100644
index 0000000000..0eac2f57a2
--- /dev/null
+++ b/examples/interior-guard-old/world.info
@@ -0,0 +1,200 @@
+scale 0.5
+robot 11.00 25.0 0.0
+#robot 30.0 20.0 0.0
+# Building map with an outer ring of rooms surrounding inner rooms and a ring hallway in between
+# Recommend scale = 0.5
+
+#         CX CY Y  W  H
+# Rooms
+region  1 30 33 0 60  6 
+region  2  8 26 0 16  8 
+region  3 52 26 0 16  8 
+region  4 30 20 0 20 12 
+#region  5 36 20 0  8 12 
+region  6  8 14 0 16  8 
+region  7 52 13 0 16  6 
+region  8 16  5 0 32 10 
+region  9 46  5 0 28 10 
+
+# Halls
+region 10 18 20 0  4 12 
+region 11 18 28 0  4  4 
+region 12 30 28 0 20  4 
+region 13 42 28 0  4  4 
+region 14 42 20 0  4 12 
+region 15 42 12 0  4  4 
+region 16 30 12 0 20  4 
+region 17 18 12 0  4  4 
+region 18 52 20 0 16  4 
+
+
+
+# Room 1: Quarters
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+SimObject bunk1      5.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+SimObject bunk1     13.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+SimObject bunk1     21.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+SimObject bunk1     29.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+SimObject bunk1     37.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+SimObject bunk1     45.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+SimObject bunk1     53.00 37.50  0.00    0    3.00  4.00  4.00 130 130 130 2 custom-model color=gray1
+
+SimObject shelf1     9.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+SimObject shelf1    17.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+SimObject shelf1    25.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+SimObject shelf1    33.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+SimObject shelf1    41.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+SimObject shelf1    49.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+SimObject shelf1    57.00 39.00  0.00   270   1.00  4.00  4.00  25  25 100 2 custom-model color=blue1
+
+Person    officer1  32.00 33.00 0.90      0                      0   0 100   1 name=mercer1
+
+# Room 2: CO Office
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Table               14.00 23.00  0.00    90   1.80  3.80  1.80               0
+Desk                 4.00 24.00  0.00     0   1.80  3.80  1.80               0
+SimObject chair1     2.00 24.50  0.00     0   1.00  1.00  2.00  20 100  20   2 custom-model color=green1 
+
+Person    officer1  13.60 25.00  0.90     0                      0   0 100   2 name=co1 modifier1=commanding1
+#Person    officer1   3.00 28.00  0.90     0                      0   0 100   2 name=co1 modifier1=commanding1
+
+# Room 3: East Sentry
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Person    sentry1   58.00 25.00  0.90   270                    125 100  50   0
+Table               58.00 23.00  0.00    90   1.80  3.80  1.80               1 color=brown1
+SimObject radio1    57.00 23.00  1.82     0   0.50  0.50  0.50  50  50  50   1 color=black1 
+Alarm               44.10 21.75  0.50   270   0.50  1.00  1.00               1 color=red1
+
+# Room 4: Mess Hall
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Table               23.00 20.00 0.00      0   3.00  8.00  1.00               1 color=brown1
+
+Fridge              35.50 24.75 0.02    270   1.50  3.00  4.00               0
+Counter             38.50 22.00 0.00    180   2.00  4.00  1.50               0 
+Sink                38.50 18.25 1.00    180   2.00  3.45  0.50               0 
+Stove               36.00 15.50 0.00     90   2.00  3.00  1.50 200 200 200   0
+Garbage             33.00 15.00 0.02     90   1.00  2.00  1.20  80 150  80   0 
+
+#SimObject plate1    12.80 18.50 1.02      0   0.75  0.75  0.1  100 100 225   2 cylinder color=blue1
+SimObject plate1    24.00 22.00 1.02      0   0.50  0.50  0.1  225 225 225   2 cylinder color=white1
+SimObject ketchup1  24.00 20.00 1.02      0   0.40  0.40  0.9  255   0   0   2 cylinder color=red1
+SimObject mustard1  35.00  8.00 1.02      0   0.40  0.40  0.9  150 150   0   2 cylinder color=yellow1
+
+#Person    chef1     30.00 20.00 0.90      0                    150 150 150   1 name=mary1
+
+BoxObject           38.50 15.50 0.00      0   2.00  2.00  1.50 250 230 140
+
+
+# Room 6: West Sentry
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Person    sentry1    2.00 15.00  0.90    90                    125 100  50   0
+Table                2.00 17.00  0.00    90   1.80  3.80  1.80               1 color=brown1
+SimObject radio1     3.00 17.00  1.82     0   0.50  0.50  0.50  50  50  50   1 color=black1 
+
+# Room 7: Supply Room
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+#SimObject extinguisher1 48 15.5 0.00      0   0.60  0.60  1.00 255   0   0   3 custom-model shape=cylinder1 color=blue1 
+#SimObject extinguisher1 50 15.5 0.00      0   0.60  0.60  1.00 255   0   0   3 custom-model shape=cylinder1 color=red1 
+SimObject extinguisher1 46 28.5 0.00      0   0.60  0.60  1.00 255   0   0   3 custom-model shape=cylinder1 color=red1 
+
+#SimObject extinguisher1 55 23 0.00      0   0.60  0.60  1.00 255   0   0   3 custom-model shape=cylinder1 color=red1 
+
+# Room 8: Motor Pool
+#         category    X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+Person  dispatcher1 24.00  8.00  0.90    90                     25 100  50   0
+Person  sentry1     14.00  8.00  0.90    90                    125 100  50   0
+Table                2.00  5.00  0.00     0   2.00  8.00  1.00               0
+Table               28.00  5.00  0.00     0   2.00  8.00  1.00               0
+
+#SimObject cabinet1   8.00  1.00  0.00     0   4.00  1.00  4.00  25  25  25   1 color=black1 
+#SimObject cabinet1  16.00  1.00  0.00     0   4.00  1.00  4.00  25  25  25   1 color=black1 
+SimObject cabinet1  24.00  1.00  0.00     0   4.00  1.00  4.00  25  25  25   1 color=black1 
+
+SimObject truck1      8.00   4.00  0.00   270   6.00  3.00  2.00   0 100   0   3 custom-model color=green1 is-locked1=not-locked1
+#
+#### Light switches
+#         on/off reg  X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+LightSwitch  on wp01 21.00 30.25 1.00    90   0.50  0.50  0.50               0 
+LightSwitch  on wp02 15.75 25.00 1.00     0   0.50  0.50  0.50               0 
+LightSwitch  on wp03 44.25 23.00 1.00     0   0.50  0.50  0.50               0 
+LightSwitch off wp04 27.00 25.75 1.00   270   0.50  0.50  0.50               0 
+LightSwitch  on wp06 15.75 17.00 1.00   180   0.50  0.50  0.50               0 
+#LightSwitch off wp01 44.25 15.00 1.00     0   0.50  0.50  0.50               0 
+LightSwitch  on wp08 15.00  9.75 1.00   270   0.50  0.50  0.50               0 
+#LightSwitch off wp01 45.00  9.75 1.00     0   0.50  0.50  0.50               0 
+
+SimObject fire1      50.00  8.00 0.00     0   2.00  2.00  2.00 255   0   0   2 cone color=red1
+Person    officer1   34.00 33.00 0.90      0                      0   0 100   1 name=williams1
+
+
+
+#### WAYPOINT MAP 
+
+# Connecting the halls to the outer rooms
+edge 11 2 open
+edge 11 1 door 18 30 1.571
+#edge 13 1 door 42 30 1.571
+edge 15 7 open
+#edge 15 9 door 42 10 4.712
+edge 17 8 door 18 10 4.712
+#edge 10 6 open
+edge 18 3 open
+
+# Connecting inner rooms
+edge 12 4 door 30 26 4.712
+edge 16 4 door 30 14 1.571
+#edge 4 5 door 32 20 0
+
+# Interconnecting hallways
+edge 10 11 open
+edge 11 12 open
+edge 12 13 open
+edge 13 14 open
+edge 14 15 open
+edge 15 16 open
+edge 16 17 open
+edge 17 10 open
+
+edge 14 18 open
+
+##### WALLS
+
+# Outer wall
+wallchain 4
+0 0
+0 40
+60 40
+60 0
+0 0
+
+# Upper wall
+wall 0 30 16 30
+wall 20 30 40 30
+wall 44 30 60 30
+
+# Inner room walls
+wall 20 26 28 26
+wall 32 26 40 26
+wall 40 26 40 14
+wall 40 14 32 14
+wall 28 14 20 14
+wall 20 14 20 26
+
+#wall 32 14 32 18
+#wall 32 22 32 26
+
+wall 0 22 16 22
+wall 44 18 60 18
+
+# north/south walls
+wall 16 10 16 18
+wall 16 22 16 26
+wall 44 14 44 18
+wall 44 22 44 30
+
+wall 32 0 32 10
+
+# Lower wall
+wall 0 10 16 10
+wall 20 10 60 10
+#wall 44 10 60 10
diff --git a/examples/interior-guard/Makefile b/examples/interior-guard/Makefile
index 99785a8db0..198a07746a 100644
--- a/examples/interior-guard/Makefile
+++ b/examples/interior-guard/Makefile
@@ -1,37 +1,51 @@
 AGENT_NAME=interior-guard
 
-ROSIE_CONFIG=agent/rosie.${AGENT_NAME}.config
+ROSIE_CONFIG=agent/rosie-client.config
+TEST_CONFIG=test-agent/rosie-client.config
 
-all: world ${ROSIE_CONFIG}
 
+#### Running Various Build Scripts
 
-# Launches both the simulator and the test chat panel
-run_evaluation: run_mobile_sim run_rosie
+all: world agent test
+
+agent: ${ROSIE_CONFIG}
+
+test: ${TEST_CONFIG}
+
+world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
+
+
+
+#### Running Different Versions
+
+run_example: run_mobile_sim run_rosie
 
 run_mobile_sim: ${AGENT_NAME}.world
-	mkdir -p output
-	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world > output/mobile_sim_output.txt &
+	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world &
 
 run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} > output/rosie_output.txt &
+	python3 -m mobilesim.rosie.MobileRosieGUI ${ROSIE_CONFIG} &
 
-run_test: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
-	mkdir -p output
-	python3 -m rosie.evaluation.${AGENT_NAME} --test
-	echo "########### DIFF ##########"
-	diff output/test-output.txt correct-output.txt
+run_test: waypoint-map.soar internal-world.soar ${TEST_CONFIG} 
+	python3 -m rosie.testing.run_rosie_test ${TEST_CONFIG} test-output.txt
+	@echo "#################### DIFF ####################"
+	diff test-output.txt correct-output.txt # Need to edit correct-output.txt
 
 
-# agent/rosie.interior-guard.config: Configures the rosie soar agent that will be sourced to run
-${ROSIE_CONFIG}: agent.config smem-config.txt extra-smem-adds.soar
-	java edu.umich.rosie.tools.config.RosieAgentConfigurator agent.config
+#### Configuring Rosie Agents
 
+# agent/rosie.template.config: Configures the rosie soar agent that will be sourced to run
+${ROSIE_CONFIG}: rosie.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator rosie.config
+
+
+# test-agent/rosie.template.config: Configures the rosie soar agent that will be sourced for the test
+${TEST_CONFIG}: test.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator test.config
 
-#### Generating World/Map Files
 
-world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
 
+#### Generating World/Map Files
 # ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
 ${AGENT_NAME}.world: world.info
 	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
@@ -49,11 +63,11 @@ waypoint-map.soar: world.info
 
 clean:
 	rm -rf agent
-	rm -rf output
+	rm -rf test-agent
 	rm -rf __pycache__
+	rm -rf *.log
+	rm -f test-output.txt
 	rm -f ${AGENT_NAME}.world
 	rm -f waypoint-map.soar
 	rm -f internal-world.soar
 
-
-
diff --git a/examples/interior-guard/extra-soar-rules.soar b/examples/interior-guard/extra-soar-rules.soar
index 9a7e5adad1..bb91852dee 100644
--- a/examples/interior-guard/extra-soar-rules.soar
+++ b/examples/interior-guard/extra-soar-rules.soar
@@ -25,7 +25,7 @@ sp {top-state*elaborate*agent-params*custom
 
 # Load chunks for fetch
 #source fetch-chunks.soar
-source full-training-chunks.soar
+#source full-training-chunks.soar
 
 source waypoint-map.soar
 source internal-world.soar
diff --git a/examples/interior-guard/script.txt b/examples/interior-guard/script.txt
index 593d09a841..38729c315b 100644
--- a/examples/interior-guard/script.txt
+++ b/examples/interior-guard/script.txt
@@ -93,7 +93,7 @@ You are done.
 Continue inspect. 
 
 # Move Mercer to the CO's office
-!CMD teleport 15 3.34 11.50 0.90 wp02
+#!CMD teleport 15 3.34 11.50 0.90 wp02
 
 Go to the CO's office. 
 
diff --git a/examples/interior-guard/smem-config.txt b/examples/interior-guard/smem-config.txt
index 7aa6e114eb..041a43736c 100644
--- a/examples/interior-guard/smem-config.txt
+++ b/examples/interior-guard/smem-config.txt
@@ -51,7 +51,15 @@ template name _HANDLE_ _WORDTYPE_ _WORD_* {
 	messhall1 N messhall 
 	armory1 N armory 
 	motorpool1 N motorpool 
-	quarters1 N quarters 
+	quarters1 N quarters
+	dish1 N dish
+	sauce1 N sauce
+	switch1 N switch
+	light1 N light
+	refrigerator1 N refrigerator
+	trash-can1 N trash-can
+	range1 N range
+	kitchen1 N kitchen
 }
 
 
diff --git a/examples/interior-guard/world.info b/examples/interior-guard/world.info
index 0eac2f57a2..781c25bdca 100644
--- a/examples/interior-guard/world.info
+++ b/examples/interior-guard/world.info
@@ -76,7 +76,8 @@ Stove               36.00 15.50 0.00     90   2.00  3.00  1.50 200 200 200   0
 Garbage             33.00 15.00 0.02     90   1.00  2.00  1.20  80 150  80   0 
 
 #SimObject plate1    12.80 18.50 1.02      0   0.75  0.75  0.1  100 100 225   2 cylinder color=blue1
-SimObject plate1    24.00 22.00 1.02      0   0.50  0.50  0.1  225 225 225   2 cylinder color=white1
+#SimObject plate1    24.00 22.00 3.02      0   0.50  0.50  0.1  225 225 225   2 cylinder color=red1 # table location
+SimObject plate1    39.00 22.50 3.02      0   0.50  0.50  0.1  225 225 225   2 cylinder color=red1
 SimObject ketchup1  24.00 20.00 1.02      0   0.40  0.40  0.9  255   0   0   2 cylinder color=red1
 SimObject mustard1  35.00  8.00 1.02      0   0.40  0.40  0.9  150 150   0   2 cylinder color=yellow1
 
@@ -116,7 +117,7 @@ SimObject truck1      8.00   4.00  0.00   270   6.00  3.00  2.00   0 100   0   3
 #         on/off reg  X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
 LightSwitch  on wp01 21.00 30.25 1.00    90   0.50  0.50  0.50               0 
 LightSwitch  on wp02 15.75 25.00 1.00     0   0.50  0.50  0.50               0 
-LightSwitch  on wp03 44.25 23.00 1.00     0   0.50  0.50  0.50               0 
+LightSwitch  off wp03 44.25 23.00 1.00     0   0.50  0.50  0.50               0 
 LightSwitch off wp04 27.00 25.75 1.00   270   0.50  0.50  0.50               0 
 LightSwitch  on wp06 15.75 17.00 1.00   180   0.50  0.50  0.50               0 
 #LightSwitch off wp01 44.25 15.00 1.00     0   0.50  0.50  0.50               0 

From a9e82ba82b2ba956ee0e0ca79eafae7154164e3e Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Tue, 17 Jan 2023 12:32:49 -0500
Subject: [PATCH 20/34] Cannot send instruction if invalid/empty input

---
 python/rosie/RosieGUI.py | 73 ++++++++++++++++++++++++++--------------
 1 file changed, 48 insertions(+), 25 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 556a323fb6..57a84340cb 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -1,7 +1,7 @@
 import os
 import sys
 from tkinter import *
-from tkinter.ttk import Treeview
+from tkinter import messagebox
 from ttkwidgets.autocomplete import AutocompleteEntryListbox
 
 from . import RosieClient
@@ -114,31 +114,38 @@ def send_combined_message(self, message_type):
     # maybe use the add_to_history function as a way to combine over time.
     ## ToDo - change font sizes back
         self.combined_message = ""
+        input_values = []
 
-        if message_type == "done":
-            self.combined_message += "You are done"
-        elif self.last_selected_option == 0:
-            self.combined_message += self.listbox_entries[0][0].get().strip() + " the " + self.listbox_entries[0][1].get().strip()
-        elif self.last_selected_option == 1:
-            self.combined_message += self.listbox_entries[1][0].get().strip() + " the "
-            for i in range(1,3):
-                self.combined_message += self.listbox_entries[1][i].get().strip() + " "
-            self.combined_message += "the " + self.listbox_entries[1][3].get().strip()
-        elif self.last_selected_option == 2:
-            self.combined_message = "The goal is that the "
-            for i in range(0,3):
-                self.combined_message += self.listbox_entries[2][i].get().strip() + " "
+        validation_response = self.toggle_enable_send_button()
+        if not validation_response[1]:
+           messagebox.showinfo("Input Error", "Some inputs are empty or invalid.")
         else:
-            self.combined_message = "The goal is that the "
-            for i in range(0,3):
-                self.combined_message += self.listbox_entries[3][i].get().strip() + " "
-            self.combined_message += "the " + self.listbox_entries[3][3].get().strip()
-        
-        self.combined_message = self.combined_message.strip() + "."    
-        self.send_message_to_rosie(self.combined_message)
-        for sublist in self.listbox_entries:
-            for i in range(len(sublist)):
-                sublist[i].clear()
+            input_values = validation_response[0]
+
+            if message_type == "done":
+                self.combined_message += "You are done"
+            elif self.last_selected_option == 0:
+                self.combined_message += input_values[0] + " the " + input_values[1]
+            elif self.last_selected_option == 1:
+                self.combined_message += input_values[0] + " the "
+                for i in range(1,3):
+                    self.combined_message += input_values[i] + " "
+                self.combined_message += "the " + input_values[3]
+            elif self.last_selected_option == 2:
+                self.combined_message = "The goal is that the "
+                for i in range(0,3):
+                    self.combined_message += input_values[i] + " "
+            else:
+                self.combined_message = "The goal is that the "
+                for i in range(0,3):
+                    self.combined_message += input_values[i] + " "
+                self.combined_message += "the " + input_values[3]
+
+            self.combined_message = self.combined_message.strip() + "."
+            self.send_message_to_rosie(self.combined_message)
+            for sublist in self.listbox_entries:
+                for i in range(len(sublist)):
+                    sublist[i].clear()
 
     """Populate listbox entries with predefined lists of parts of speech"""
     def populate_template_listboxes(self):
@@ -188,7 +195,23 @@ def enable_template_input(self, selected_index):
                 label.grid_remove()
         self.last_selected_option = selected_index
         self.show_selected_template_entries(selected_index)
- 
+
+    """Function to toggle enabling or disabling send button based on whether all entries are filled and valid"""
+    def toggle_enable_send_button(self):
+        num_of_template_inputs = len(self.listbox_entries[self.last_selected_option])
+        # Copying text inputs from the template into list
+        input_list = [self.listbox_entries[self.last_selected_option][i].get().strip() for i in range(num_of_template_inputs)]
+        if '' in input_list:
+            # if any of the inputs contains an empty value, return False
+            return ([], False)
+        else:
+            # if any of the inputs contains an invalid value, return False
+            for i in range(num_of_template_inputs):
+                if input_list[i] in self.listbox_entries[self.last_selected_option][i].cget('completevalues'):
+                    continue
+                else:
+                    return ([], False)
+        return (input_list, True)
     
     def create_widgets(self):
         # ToDo: A way to clean up this code may be to get all the grid statements together and function statements(lambda etc) in another batch

From f04e60a58af0d12032ccd36fe56edd098a2a0a76 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Wed, 18 Jan 2023 12:29:27 -0500
Subject: [PATCH 21/34] Added "Rosie:" and "Instructor:" to precede msgs

---
 python/rosie/events/AgentMessageSent.py      | 2 +-
 python/rosie/events/InstructorMessageSent.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/rosie/events/AgentMessageSent.py b/python/rosie/events/AgentMessageSent.py
index 5bd16aad07..388058db2b 100644
--- a/python/rosie/events/AgentMessageSent.py
+++ b/python/rosie/events/AgentMessageSent.py
@@ -3,7 +3,7 @@ class AgentMessageSent:
     """ Triggered when a message is sent from the agent to the instructor
         message:str - the message that was sent """
     def __init__(self, message):
-        self.message = message
+        self.message = "Robot: " + message
 
     def __str__(self):
         return "AgentMessageSent: " + self.message 
diff --git a/python/rosie/events/InstructorMessageSent.py b/python/rosie/events/InstructorMessageSent.py
index 751d6f370f..9e28e08a3b 100644
--- a/python/rosie/events/InstructorMessageSent.py
+++ b/python/rosie/events/InstructorMessageSent.py
@@ -3,7 +3,7 @@ class InstructorMessageSent:
     """ Triggered when a message is sent from the instructor to Rosie via the input link  
         message:str - the message that was sent """
     def __init__(self, message):
-        self.message = message
+        self.message = "Instructor: " + message
 
     def __str__(self):
         return "InstructorMessageSent: " + self.message 

From e50007e4798fb0d066d98e9ec76c44aa52a6d87e Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Wed, 25 Jan 2023 16:49:40 -0500
Subject: [PATCH 22/34] Fixed bug for commit with invalid inputs

Sends you are done message even when text inputs are empty/invalid
---
 python/rosie/RosieGUI.py | 58 +++++++++++++++++++---------------------
 1 file changed, 28 insertions(+), 30 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 57a84340cb..e85f692e08 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -111,41 +111,39 @@ def create_parts_of_speech_lists(self):
         self.object_states_list = sorted(self.object_states_list)
 
     def send_combined_message(self, message_type):
-    # maybe use the add_to_history function as a way to combine over time.
-    ## ToDo - change font sizes back
         self.combined_message = ""
         input_values = []
 
-        validation_response = self.toggle_enable_send_button()
-        if not validation_response[1]:
-           messagebox.showinfo("Input Error", "Some inputs are empty or invalid.")
+        if message_type == "done":
+            self.combined_message += "You are done"
         else:
-            input_values = validation_response[0]
-
-            if message_type == "done":
-                self.combined_message += "You are done"
-            elif self.last_selected_option == 0:
-                self.combined_message += input_values[0] + " the " + input_values[1]
-            elif self.last_selected_option == 1:
-                self.combined_message += input_values[0] + " the "
-                for i in range(1,3):
-                    self.combined_message += input_values[i] + " "
-                self.combined_message += "the " + input_values[3]
-            elif self.last_selected_option == 2:
-                self.combined_message = "The goal is that the "
-                for i in range(0,3):
-                    self.combined_message += input_values[i] + " "
+            validation_response = self.toggle_enable_send_button()
+            if not validation_response[1]:
+                messagebox.showinfo("Input Error", "Some inputs are empty or invalid.")
             else:
-                self.combined_message = "The goal is that the "
-                for i in range(0,3):
-                    self.combined_message += input_values[i] + " "
-                self.combined_message += "the " + input_values[3]
-
-            self.combined_message = self.combined_message.strip() + "."
-            self.send_message_to_rosie(self.combined_message)
-            for sublist in self.listbox_entries:
-                for i in range(len(sublist)):
-                    sublist[i].clear()
+                input_values = validation_response[0]
+                if self.last_selected_option == 0:
+                    self.combined_message += input_values[0] + " the " + input_values[1]
+                elif self.last_selected_option == 1:
+                    self.combined_message += input_values[0] + " the "
+                    for i in range(1,3):
+                        self.combined_message += input_values[i] + " "
+                    self.combined_message += "the " + input_values[3]
+                elif self.last_selected_option == 2:
+                    self.combined_message = "The goal is that the "
+                    for i in range(0,3):
+                        self.combined_message += input_values[i] + " "
+                else:
+                    self.combined_message = "The goal is that the "
+                    for i in range(0,3):
+                        self.combined_message += input_values[i] + " "
+                    self.combined_message += "the " + input_values[3]
+
+        self.combined_message = self.combined_message.strip() + "."
+        self.send_message_to_rosie(self.combined_message)
+        for sublist in self.listbox_entries:
+            for i in range(len(sublist)):
+                sublist[i].clear()
 
     """Populate listbox entries with predefined lists of parts of speech"""
     def populate_template_listboxes(self):

From 7374a31f1bcb18ddc9c5bd4075ea073057ee89fb Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Mon, 30 Jan 2023 11:24:21 -0500
Subject: [PATCH 23/34] Enable goal template buttons only on Rosie request

---
 python/rosie/RosieGUI.py | 42 +++++++++++++++++++++++++++++++++++++---
 1 file changed, 39 insertions(+), 3 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index e85f692e08..fa113ba8de 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -1,4 +1,5 @@
 import os
+from pysoarlib import AgentConnector
 import sys
 from tkinter import *
 from tkinter import messagebox
@@ -82,6 +83,7 @@ def setup_rosie_client(self):
         self.rosie_client.add_event_handler(AgentMessageSent, lambda e: self.messages_list.add(e.message))
         self.rosie_client.add_event_handler(InstructorMessageSent, lambda e: self.messages_list.add(e.message))
         self.rosie_client.add_event_handler(ScriptMessageSent, lambda e: self.script_list.select_line(e.index))
+        self.rosie_client.add_connector("gui", GUIConnector(self.rosie_client, self))
 
     def run(self):
         self.rosie_client.connect()
@@ -210,6 +212,18 @@ def toggle_enable_send_button(self):
                 else:
                     return ([], False)
         return (input_list, True)
+
+    """Function to toggle enabling or disabling goal button based on whether Rosie requests goal"""
+    def toggle_enable_goal_button(self, state):
+        if state == "NORMAL":
+            self.enable_gt1_button["state"] = NORMAL
+            self.enable_gt2_button["state"] = NORMAL
+        else:
+            self.enable_gt1_button["state"] = DISABLED
+            self.enable_gt2_button["state"] = DISABLED
+            # Enable action templates when the goal buttons are disabled
+            if self.last_selected_option in [2,3]:
+                self.enable_template_input(0)
     
     def create_widgets(self):
         # ToDo: A way to clean up this code may be to get all the grid statements together and function statements(lambda etc) in another batch
@@ -276,11 +290,11 @@ def create_widgets(self):
         self.enable_at2_button["command"] = lambda: self.enable_template_input(1)
         self.enable_at2_button.grid(row=2, column=1, rowspan=2, columnspan=2, sticky=N+S+E+W)
  
-        self.enable_gt1_button = Button(self, text="Provide desired world state\nfor robot to achieve:\nObject + Linking-verb + Object State\n\"The alarm is on\"", font=("Times", "15"), padx=10)
+        self.enable_gt1_button = Button(self, state=DISABLED, text="Provide desired world state\nfor robot to achieve:\nObject + Linking-verb + Object State\n\"The alarm is on\"", font=("Times", "15"), padx=10)
         self.enable_gt1_button["command"] = lambda: self.enable_template_input(2)
         self.enable_gt1_button.grid(row=2, column=3, rowspan=2, sticky=N+S+E+W)
  
-        self.enable_gt2_button = Button(self, text="Provide desired world state\nfor robot to achieve:\n Object1 + Linking-verb + Prep + Object2\n\"The extinguisher is in the office\"", font=("Times", "15"), padx=10)
+        self.enable_gt2_button = Button(self, state=DISABLED, text="Provide desired world state\nfor robot to achieve:\n Object1 + Linking-verb + Prep + Object2\n\"The extinguisher is in the office\"", font=("Times", "15"), padx=10)
         self.enable_gt2_button["command"] = lambda: self.enable_template_input(3)
         self.enable_gt2_button.grid(row=2, column=4, rowspan=2, columnspan=2, sticky=N+S+E+W)
         
@@ -433,7 +447,6 @@ def create_widgets(self):
 
         
         # Row 9: "You are done" message (Col 0) and Send Button (Col 5)
-        # ToDo: enter check for all chat entries being populated with text
         self.task_done_button = Button(self, text="You are done", font=("Times", "18"))
         self.task_done_button["command"] = lambda: self.send_combined_message("done")
         self.task_done_button.grid(row=9, column=0, rowspan=2, sticky=N+S+E+W)
@@ -463,6 +476,29 @@ def send_message_to_rosie(self, message):
 
             self.rosie_client.send_message(message)
 
+class GUIConnector(AgentConnector):
+    """ Will connect GUI to soar agent input and output
+        For input - N/A
+        For output - will take a message type and modify GUI controls based on message type """
+    def __init__(self, client, rosie_gui):
+        AgentConnector.__init__(self, client)
+        self.add_output_command("send-message")
+        self.rosie_gui = rosie_gui
+
+    def on_output_event(self, command_name, root_id):
+        if command_name == "send-message":
+            message_type = root_id.FindByAttribute("type", 0).GetValueAsString()
+            if not message_type:
+                root_id.CreateStringWME("status", "error")
+                root_id.CreateStringWME("error-info", "send-message has no type")
+                self.client.print_handler("GUIConnector: Error - send-message has no type")
+                return
+
+            if message_type == "get-next-goal":
+                self.rosie_gui.toggle_enable_goal_button("NORMAL")
+            else:
+                self.rosie_gui.toggle_enable_goal_button("DISABLED")
+
 
 def main():
     if len(sys.argv) == 1:

From 5c6f9bb35b0e1b1fff6a5a8ccd4c2b1c6ba69c92 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Tue, 31 Jan 2023 15:36:02 -0500
Subject: [PATCH 24/34] Fixed bug - no instruction sent if invalid input

---
 python/rosie/RosieGUI.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index fa113ba8de..ffb54c9795 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -122,6 +122,10 @@ def send_combined_message(self, message_type):
             validation_response = self.toggle_enable_send_button()
             if not validation_response[1]:
                 messagebox.showinfo("Input Error", "Some inputs are empty or invalid.")
+                for sublist in self.listbox_entries:
+                    for i in range(len(sublist)):
+                        sublist[i].clear()
+                return
             else:
                 input_values = validation_response[0]
                 if self.last_selected_option == 0:

From bd4788059afc206afcd1f47c252aa26026ab135e Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Wed, 1 Feb 2023 11:42:18 -0500
Subject: [PATCH 25/34] Added put to verb list, modified RosieGUI to allow

it. The validation of verb list is now case-insensitive
---
 python/rosie/RosieGUI.py                     | 2 +-
 python/rosie/parts-of-speech-lists/verbs.txt | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index ffb54c9795..fd38f3b814 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -211,7 +211,7 @@ def toggle_enable_send_button(self):
         else:
             # if any of the inputs contains an invalid value, return False
             for i in range(num_of_template_inputs):
-                if input_list[i] in self.listbox_entries[self.last_selected_option][i].cget('completevalues'):
+                if input_list[i].lower() in list(map(lambda x: x.lower(),self.listbox_entries[self.last_selected_option][i].cget('completevalues'))):
                     continue
                 else:
                     return ([], False)
diff --git a/python/rosie/parts-of-speech-lists/verbs.txt b/python/rosie/parts-of-speech-lists/verbs.txt
index 0b7265430a..0a16c5b964 100644
--- a/python/rosie/parts-of-speech-lists/verbs.txt
+++ b/python/rosie/parts-of-speech-lists/verbs.txt
@@ -21,6 +21,7 @@ OPEN
 PICK UP
 POUR
 PRESS
+put
 PUT DOWN
 refrigerate
 SCAN

From a57555e02b96df4a69cb6c11fc9ffa300bc60334 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Wed, 1 Feb 2023 12:49:07 -0500
Subject: [PATCH 26/34] Modified prepositions and being verbs

---
 python/rosie/RosieGUI.py                      |  2 +-
 .../parts-of-speech-lists/prepositions.txt    | 25 +------------------
 2 files changed, 2 insertions(+), 25 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index fd38f3b814..fcb0e20535 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -106,7 +106,7 @@ def create_parts_of_speech_lists(self):
         self.noun_list = sorted(self.noun_list)
         
         # Create list of being verbs
-        self.being_verb_list = ["are","are not","is","is not"]
+        self.being_verb_list = ["are","are not","contains","is","is not"]
         
         # Create list of object states
         self.object_states_list = open(os.path.join(pos_folder_path, "object-states.txt")).read().splitlines()
diff --git a/python/rosie/parts-of-speech-lists/prepositions.txt b/python/rosie/parts-of-speech-lists/prepositions.txt
index bd688fed69..457156a258 100644
--- a/python/rosie/parts-of-speech-lists/prepositions.txt
+++ b/python/rosie/parts-of-speech-lists/prepositions.txt
@@ -1,30 +1,7 @@
-at
-above
-after
-around
-before
-behind
-below
-beneath
-down
 from
 in
 into
-of
-off
 on
 onto
-over
 to
-toward
-under
-underneath
-up
-upon
-with
-within
-without
-atop
-in front of
-inside
-next to
\ No newline at end of file
+with
\ No newline at end of file

From 5513ebfbfd1befc38b5261f55c223b5b3a8a2ef7 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Fri, 10 Mar 2023 16:22:16 -0500
Subject: [PATCH 27/34] call wait rhs when command is wait for x seconds

---
 .../interpret-message/interpret-command.soar  | 31 +++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/agent/interaction/interpret-message/interpret-command.soar b/agent/interaction/interpret-message/interpret-command.soar
index d332c1a338..bf32a2ff80 100644
--- a/agent/interaction/interpret-message/interpret-command.soar
+++ b/agent/interaction/interpret-message/interpret-command.soar
@@ -24,6 +24,37 @@ sp {interpret-message*propose*interpret-action-command
         ^command-message <msg>)
 }
 
+# When the command is "Wait for x seconds"
+sp {interpret-message*elaborate*interpret-action-command*wait
+   (state <s>  ^name interpret-message
+               ^operator <o> +
+               ^instructor-message <msg>)
+   (<msg> ^action.handle wait1
+          ^temporal-predicate.handle for1
+          ^temporal-clause <tlc>)
+   (<tlc> ^unit seconds
+          ^number <num>)
+-->
+   (<o>  ^command-type wait
+         ^custom-handling true
+         ^time <num>)
+}
+
+sp {interpret-message*apply*interpret-action-command*wait*mark*interpreted
+   (state <s> ^name interpret-message
+              ^operator <o>
+              ^instructor-message <msg>)
+   (<o> ^name interpret-action-command
+        ^command-type wait
+        ^custom-handling true
+        ^time <num>)
+-->
+   (wait  (* <num> 1000))
+   (<msg> ^interpreted true)
+   (<s> ^interpreted true)
+}
+
+
 sp {interpret-message*reject*interpret-action-command*stop-following
   (state <s> ^name interpret-message
              ^operator <o> +

From cd707ff69d4c98c60758d6c386cfb6981ba9e95a Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Mon, 3 Apr 2023 12:24:41 -0400
Subject: [PATCH 28/34] Changes to add oven to sim objects

---
 python/rosie/tools/mapmaker/sim_objects.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/python/rosie/tools/mapmaker/sim_objects.py b/python/rosie/tools/mapmaker/sim_objects.py
index 30f0c0a759..2f05e21345 100644
--- a/python/rosie/tools/mapmaker/sim_objects.py
+++ b/python/rosie/tools/mapmaker/sim_objects.py
@@ -207,8 +207,18 @@ class Fridge(Shelves):
 class Microwave(Shelves):  
     door = "not-open1"
     cat = "microwave1"
+
+class Oven(Shelves):
+    sim_class = "soargroup.mobilesim.sim.SimOven"
+    door = "not-open1"
+    cat = "oven1"
     rgb = [ 50, 50, 50 ]
 
+    def read_info(self, reader, scale=1.0):
+        super().read_info(reader, scale)
+        self.preds["is-activated1"] = "not-activated1"
+        return self
+
 class Kettle(SimObject):  
     sim_class = "soargroup.mobilesim.sim.SimKettle"
     cat = "kettle1"

From b114608eba14635aa9b921983c15f64eaba70250 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Sun, 9 Apr 2023 18:05:03 -0400
Subject: [PATCH 29/34] Oven task kitchen environment

---
 examples/kitchen-study/Makefile               |    73 +
 examples/kitchen-study/README.md              |    60 +
 examples/kitchen-study/correct-output.txt     |    26 +
 examples/kitchen-study/extra-smem-adds.soar   |   511 +
 examples/kitchen-study/extra-soar-rules.soar  |   290 +
 examples/kitchen-study/fetch-chunks.soar      |  4153 +++++
 examples/kitchen-study/final-chunks.txt       | 14698 ++++++++++++++++
 .../kitchen-study/full-training-chunks.soar   | 14348 +++++++++++++++
 examples/kitchen-study/script.txt             |   166 +
 examples/kitchen-study/smem-config.txt        |    65 +
 examples/kitchen-study/test.config            |   103 +
 examples/kitchen-study/world-all-objs.info    |    48 +
 examples/kitchen-study/world.info             |    38 +
 13 files changed, 34579 insertions(+)
 create mode 100644 examples/kitchen-study/Makefile
 create mode 100644 examples/kitchen-study/README.md
 create mode 100644 examples/kitchen-study/correct-output.txt
 create mode 100644 examples/kitchen-study/extra-smem-adds.soar
 create mode 100644 examples/kitchen-study/extra-soar-rules.soar
 create mode 100644 examples/kitchen-study/fetch-chunks.soar
 create mode 100644 examples/kitchen-study/final-chunks.txt
 create mode 100644 examples/kitchen-study/full-training-chunks.soar
 create mode 100644 examples/kitchen-study/script.txt
 create mode 100644 examples/kitchen-study/smem-config.txt
 create mode 100644 examples/kitchen-study/test.config
 create mode 100644 examples/kitchen-study/world-all-objs.info
 create mode 100644 examples/kitchen-study/world.info

diff --git a/examples/kitchen-study/Makefile b/examples/kitchen-study/Makefile
new file mode 100644
index 0000000000..523f808907
--- /dev/null
+++ b/examples/kitchen-study/Makefile
@@ -0,0 +1,73 @@
+AGENT_NAME=kitchen-study
+
+ROSIE_CONFIG=agent/rosie-client.config
+TEST_CONFIG=test-agent/rosie-client.config
+
+
+#### Running Various Build Scripts
+
+all: world agent test
+
+agent: ${ROSIE_CONFIG}
+
+test: ${TEST_CONFIG}
+
+world: ${AGENT_NAME}.world waypoint-map.soar internal-world.soar
+
+
+
+#### Running Different Versions
+
+run_example: run_mobile_sim run_rosie
+
+run_mobile_sim: ${AGENT_NAME}.world
+	java soargroup.mobilesim.MobileGUI -w ${AGENT_NAME}.world -f &
+
+run_rosie: waypoint-map.soar internal-world.soar ${ROSIE_CONFIG} 
+	python3 -m mobilesim.rosie.MobileRosieGUI ${ROSIE_CONFIG} &
+
+run_test: waypoint-map.soar internal-world.soar ${TEST_CONFIG} 
+	python3 -m rosie.testing.run_rosie_test ${TEST_CONFIG} test-output.txt
+	@echo "#################### DIFF ####################"
+	diff test-output.txt correct-output.txt # Need to edit correct-output.txt
+
+
+#### Configuring Rosie Agents
+
+# agent/rosie.template.config: Configures the rosie soar agent that will be sourced to run
+${ROSIE_CONFIG}: rosie.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator rosie.config
+
+
+# test-agent/rosie.template.config: Configures the rosie soar agent that will be sourced for the test
+${TEST_CONFIG}: test.config smem-config.txt extra-smem-adds.soar
+	java edu.umich.rosie.tools.config.RosieAgentConfigurator test.config
+
+
+
+#### Generating World/Map Files
+# ${AGENT_NAME}.world: Creates the world file that the mobile simulator will use
+${AGENT_NAME}.world: world.info
+	python3 -m rosie.tools.mapmaker world.info --world --output-dir . --agent-name ${AGENT_NAME}
+
+# The internal world used during simulation
+internal-world.soar: world.info
+	python3 -m rosie.tools.mapmaker world.info --internal --output-dir .
+
+# The connected waypoint map
+waypoint-map.soar: world.info
+	python3 -m rosie.tools.mapmaker world.info --map --output-dir .
+
+
+#### Clean all files
+
+clean:
+	rm -rf agent
+	rm -rf test-agent
+	rm -rf __pycache__
+	rm -rf *.log
+	rm -f test-output.txt
+	rm -f ${AGENT_NAME}.world
+	rm -f waypoint-map.soar
+	rm -f internal-world.soar
+
diff --git a/examples/kitchen-study/README.md b/examples/kitchen-study/README.md
new file mode 100644
index 0000000000..743aa7190e
--- /dev/null
+++ b/examples/kitchen-study/README.md
@@ -0,0 +1,60 @@
+# Agent Setup Guide
+
+This contains instructions on how to create and run your own custom version of the Rosie agent. 
+
+## Basic Workflow
+
+The core Rosie agent (in rosie/agent) contains the universal Soar code that supports interactive task learning 
+across a variety of environments and worlds. To minimize conflicts between different people working on the code, 
+a decision was made to have all agent customization happen outside of the core agent directory. 
+Therefore, a configuration step was introduced so that users could set all the settings they needed and add any 
+special knowledge for their particular use. 
+
+The basic workflow is as follows:
+1. Create a new directory and create a Rosie config file, along with any special rules/knowledge that the agent needs
+2. Run the java agent configuration tool to generate the files necessary to run Rosie
+3. Run the Rosie agent with whatever interface is desired, pointing it to the files generated by the configuration tool
+
+# Creating a new agent configuration
+
+You can use this template folder as a guide, make a copy of it in a new location and edit files as you see fit. 
+
+## `agent.config [required]`
+This file contains all the settings needed to configure an instance of Rosie. Settings consist of a line of the form `setting_name = value`
+
+The provided agent.config file contains comments with information on each setting, but they are repeated here
+
+**Basic Settings:**
+
+```
+agent-name = [str]
+# The name used when creating agent files
+
+agent-dir = [path]
+# The directory to put newly created agent files into 
+# By default, it puts them in a directory called agent
+```
+
+**Environment Settings:**
+
+Rosie can be run attached to a number of different external environments, both real and simulated, as well as internal models of the world
+
+
+```
+domain = [internal|magicbot|tabletop|ai2thor|cozmo|fetch]
+```
+The domain setting tells the Rosie agent which environment it is going to be run with. 
+The configuration tool will add the wme `(top-state [s] ^agent-params.domain [domain]).`
+Certain soar rules, especially those dealing with perception and action, test the domain. 
+If the agent is not connected to an external environment, use the internal domain. If you are using the mobile simulator, use the magicbot domain.
+
+```
+simulate-perception = true
+```
+This setting is only used for the internal domain, and tells the agent to simulate an input link and mimic the standard way of managing perception and the world. 
+
+```
+internal-world-file = [filename]
+```
+This setting should only be used in combination with `domain = internal` and `simulate-perception = true`. It searches for the given file in `agent/manage-world-state/world/internal:q
+
diff --git a/examples/kitchen-study/correct-output.txt b/examples/kitchen-study/correct-output.txt
new file mode 100644
index 0000000000..808b27abf9
--- /dev/null
+++ b/examples/kitchen-study/correct-output.txt
@@ -0,0 +1,26 @@
+I: "Move the mug onto the table."
+> move1(green mug, on1(table))
+R: "What is the next goal or subtask of move?"
+I: "The only goal is that the mug is on the table."
+  > pick-up1(green mug)
+    > approach1(green mug)
+    < approach1(green mug)
+  < pick-up1(green mug)
+  > put-down1(green mug, on1(table))
+    > approach1(table)
+    < approach1(table)
+  < put-down1(green mug, on1(table))
+< move1(green mug, on1(table))
+R: "I'm ready for a new task"
+I: "Store the mug."
+> store1(green mug)
+R: "What is the next goal or subtask of store?"
+I: "The only goal is that the mug is in the pantry."
+  > pick-up1(green mug)
+  < pick-up1(green mug)
+  > put-down1(green mug, in1(pantry))
+    > approach1(pantry)
+    < approach1(pantry)
+  < put-down1(green mug, in1(pantry))
+< store1(green mug)
+R: "I'm ready for a new task"
diff --git a/examples/kitchen-study/extra-smem-adds.soar b/examples/kitchen-study/extra-smem-adds.soar
new file mode 100644
index 0000000000..b596bc145a
--- /dev/null
+++ b/examples/kitchen-study/extra-smem-adds.soar
@@ -0,0 +1,511 @@
+#	# Alice
+#	(<alice> ^handle person-alice1 ^object-instance true ^item-type object
+#		^category person ^name alice1 ^room1 <kit>)
+#		
+#	# Bob
+#	(<bob> ^handle person-bob1 ^object-instance true ^item-type object
+#		^category person ^name bob1 ^room1 <soar>)
+#		
+#	# Charlie
+#	(<charlie> ^handle person-charlie1 ^object-instance true ^item-type object
+#		^category person ^name charlie1 ^room1 <conf>)
+#}
+smem --add {
+
+	# Messhall
+#	(<mess> ^handle loc-messhall1 ^object-instance true ^item-type object ^waypoint wp04
+#		^category entity1 location room1 ^name messhall1 ^root-category room1)
+
+	# Kitchen
+	(<kit> ^handle loc-kitchen1 ^object-instance true ^item-type object ^waypoint wp04
+		^category entity1 location room1 ^name kitchen1 ^root-category room1)
+
+}
+
+smem --add {
+(@ensure1 ^goal-graph <LTI999040> ^handle ensure1 ^procedural <LTI999035>)
+  (<LTI999035> ^arg1 <LTI999037> ^arg2 <LTI999036> ^op_name op_ensure115 ^subtasks <LTI999053>)
+  (<LTI999040> ^handle ensure1start16 ^item-type start-goal ^next <LTI999045> <LTI999052>)
+    (<LTI999036> ^arg-type concept ^id <LTI999039>)
+    (<LTI999037> ^arg-type object ^id <LTI999038>)
+    (<LTI999053> ^subtask <LTI999054> <LTI999065> <LTI999072> <LTI999079> <LTI999086> <LTI999093>)
+    (<LTI999045> ^conditions <LTI999046> ^goal <LTI999044> ^learned proposal)
+    (<LTI999052> ^goal <LTI999050> ^learned proposal)
+      (<LTI999054> ^arg1 <LTI999055> ^arg2 <LTI999056> ^handle subtask22 ^modifiers <LTI999057> ^op_name op_remember1 ^subgoal-specific ensure1goal23 ^task-handle remember1)
+      (<LTI999065> ^arg1 <LTI999066> ^handle subtask26 ^op_name op_find1 ^subgoal-specific ensure1goal27 ^task-handle find1)
+      (<LTI999072> ^arg1 <LTI999073> ^handle subtask32 ^op_name op_describe1 ^subgoal-specific ensure1goal33 ^task-handle describe1)
+      (<LTI999079> ^arg1 <LTI999080> ^handle subtask38 ^op_name op_say1 ^subgoal-specific ensure1goal39 ^task-handle say1)
+      (<LTI999086> ^arg1 <LTI999087> ^handle subtask41 ^op_name op_describe1 ^subgoal-specific ensure1goal42 ^task-handle describe1)
+      (<LTI999093> ^arg2 <LTI999094> ^handle subtask44 ^op_name op_go-to-location1 ^subgoal-specific ensure1goal45 ^task-handle go-to-location1)
+      (<LTI999044> ^handle ensure1term19 ^item-type terminal-goal)
+      (<LTI999046> ^1 <LTI999047> ^pred-count 1)
+      (<LTI999050> ^1 <LTI999051> ^handle ensure1goal23 ^item-type task-goal ^next <LTI999064> ^pred-count 1)
+        (<LTI999055> ^arg-type object ^id <LTI999059>)
+        (<LTI999056> ^arg-type object ^id <LTI999058>)
+        (<LTI999057> ^arg-type modifiers ^mod-handle once1)
+        (<LTI999066> ^arg-type object ^id <LTI999067>)
+        (<LTI999073> ^arg-type object ^id <LTI999074>)
+        (<LTI999080> ^arg-type object ^id <LTI999081>)
+        (<LTI999087> ^arg-type object ^id <LTI999088>)
+        (<LTI999094> ^2 <LTI999096> ^arg-type partial-predicate ^id <LTI999095>)
+        (<LTI999047> ^1 <LTI999038> ^id <LTI999048> ^type unary)
+        (<LTI999051> ^subtask-handle subtask22 ^type subtask)
+        (<LTI999064> ^goal <LTI999062> ^learned proposal)
+          (<LTI999059> ^default <LTI999060>)
+          (<LTI999058> ^default <LTI999061>)
+          (<LTI999067> ^default <LTI999068>)
+          (<LTI999074> ^default <LTI999075>)
+          (<LTI999081> ^abstract true ^default <LTI999082>)
+          (<LTI999088> ^default <LTI999089>)
+          (<LTI999095> ^default <LTI999097>)
+          (<LTI999096> ^default <LTI999098>)
+          (<LTI999048> ^default <LTI999049>)
+          (<LTI999062> ^1 <LTI999063> ^handle ensure1goal27 ^item-type task-goal ^next <LTI999071> ^pred-count 1)
+            (<LTI999060> ^category location ^modifier1 current1)
+            (<LTI999061> ^category location ^modifier1 starting1)
+            (<LTI999068> ^category officer1 ^name co1)
+            (<LTI999075> ^category sentry1)
+            (<LTI999082> ^category message ^sentence |is not present|)
+            (<LTI999089> ^category location ^modifier1 starting1)
+            (<LTI999097> ^predicate-handle to1)
+            (<LTI999098> ^category location ^modifier1 starting1)
+            (<LTI999049> ^predicate-handle confirmed1 ^property-handle is-confirmed1)
+            (<LTI999063> ^subtask-handle subtask26 ^type subtask)
+            (<LTI999071> ^goal <LTI999069> ^learned proposal)
+              (<LTI999069> ^1 <LTI999070> ^handle ensure1goal33 ^item-type task-goal ^next <LTI999078> ^pred-count 1)
+                (<LTI999070> ^subtask-handle subtask32 ^type subtask)
+                (<LTI999078> ^goal <LTI999076> ^learned proposal)
+                  (<LTI999076> ^1 <LTI999077> ^handle ensure1goal39 ^item-type task-goal ^next <LTI999085> ^pred-count 1)
+                    (<LTI999077> ^subtask-handle subtask38 ^type subtask)
+                    (<LTI999085> ^goal <LTI999083> ^learned proposal)
+                      (<LTI999083> ^1 <LTI999084> ^handle ensure1goal42 ^item-type task-goal ^next <LTI999092> ^pred-count 1)
+                        (<LTI999084> ^subtask-handle subtask41 ^type subtask)
+                        (<LTI999092> ^goal <LTI999090> ^learned proposal)
+                          (<LTI999090> ^1 <LTI999091> ^handle ensure1goal45 ^item-type task-goal ^next <LTI999100> ^pred-count 1)
+                            (<LTI999091> ^subtask-handle subtask44 ^type subtask)
+                            (<LTI999100> ^goal <LTI999099> ^learned proposal)
+                              (<LTI999099> ^handle ensure1term47 ^item-type terminal-goal)
+
+}
+
+smem --add {
+(@fetch1 ^goal-graph <LTI999006> ^handle fetch1 ^procedural <LTI999000>)
+  (<LTI999000> ^arg1 <LTI999001> ^arg2 <LTI999002> ^op_name op_fetch12 ^subtasks <LTI999016>)
+  (<LTI999006> ^handle fetch1start3 ^item-type start-goal ^next <LTI999015>)
+    (<LTI999001> ^arg-type object ^id <LTI999005>)
+    (<LTI999002> ^2 <LTI999004> ^arg-type partial-predicate ^id <LTI999003>)
+    (<LTI999016> ^subtask <LTI999017> <LTI999023> <LTI999025> <LTI999029> <LTI999033>)
+    (<LTI999015> ^goal <LTI999008> ^learned proposal)
+      (<LTI999017> ^arg1 <LTI999018> ^arg2 <LTI999019> ^handle subtask8 ^modifiers <LTI999020> ^op_name op_remember1 ^task-handle remember1)
+      (<LTI999023> ^arg1 <LTI999024> ^handle subtask9 ^op_name op_find1 ^task-handle find1)
+      (<LTI999025> ^arg1 <LTI999026> ^handle subtask10 ^op_name op_pick-up1 ^task-handle pick-up1)
+      (<LTI999029> ^arg2 <LTI999030> ^handle subtask12 ^op_name op_go-to-location1 ^task-handle go-to-location1)
+      (<LTI999033> ^arg1 <LTI999034> ^handle subtask13 ^op_name op_put-down1 ^task-handle put-down1)
+      (<LTI999008> ^1 <LTI999010> ^handle fetch1goal6 ^item-type task-goal ^next <LTI999009> ^pred-count 1)
+        (<LTI999018> ^arg-type object ^id <LTI999021>)
+        (<LTI999019> ^arg-type object ^id <LTI999012>)
+        (<LTI999020> ^arg-type modifiers ^mod-handle first1 once1)
+        (<LTI999024> ^arg-type object ^id <LTI999005>)
+        (<LTI999026> ^arg-type object ^id <LTI999005>)
+        (<LTI999030> ^2 <LTI999012> ^arg-type partial-predicate ^id <LTI999031>)
+        (<LTI999034> ^arg-type object ^id <LTI999005>)
+        (<LTI999009> ^goal <LTI999007> ^learned proposal)
+        (<LTI999010> ^1 <LTI999005> ^2 <LTI999012> ^id <LTI999011> ^type relation)
+          (<LTI999021> ^default <LTI999022>)
+          (<LTI999012> ^default <LTI999014>)
+          (<LTI999031> ^default <LTI999032>)
+          (<LTI999007> ^handle fetch1term5 ^item-type terminal-goal)
+          (<LTI999011> ^default <LTI999013>)
+            (<LTI999022> ^category location ^modifier1 current1)
+            (<LTI999014> ^category location ^modifier1 starting1)
+            (<LTI999032> ^predicate-handle to1)
+            (<LTI999013> ^predicate-handle in1)
+}
+
+## RELATIONS USED IN MOBILE DOMAIN FOR EVALUATION
+smem --add {
+(@on1 ^relation <501000x> <501000y> <501000z> )
+   (<501000x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501000y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501000z> ^avg 0.005 ^axis z ^bottom 0.00001 ^count 3 ^squaredsum 0.0 ^sum 0.0 ^top 0.5 ^type greater )
+
+(@in1 ^relation <501001x> <501001y> <501001z> )
+   (<501001x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501001y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501001z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+
+(@right-of1 ^relation <501002x> <501002y> <501002z>)
+   (<501002x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501002y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type less )
+   (<501002z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   
+(@left-of1 ^relation <501003x> <501003y> <501003z>)
+   (<501003x> ^avg 0.0 ^axis x ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501003y> ^avg 0.8 ^axis y ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
+   (<501003z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+
+(@behind1 ^relation <501014x> <501014y> <501014z>)
+   (<501014x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.8 ^top 4.0 ^type greater )
+   (<501014y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501014z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   
+(@infront1 ^relation <501016x> <501016y> <501016z>)
+   (<501016x> ^avg 0.8 ^axis x ^bottom 0.0001 ^count 1 ^squaredsum 0.64 ^sum 0.1 ^top 4.0 ^type less )
+   (<501016y> ^avg 0.0 ^axis y ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+   (<501016z> ^avg 0.0 ^axis z ^bottom 0.0 ^count 0 ^squaredsum 0.0 ^sum 0.0 ^top 0.0 ^type aligned )
+}
+
+smem --add {
+(@guard1 ^goal-graph <lti999169> ^handle guard1 ^procedural <lti999166>)
+  (<lti999166> ^arg1 <lti999167> ^op_name op_guard176 ^subtasks <lti999173>)
+  (<lti999169> ^handle guard1start77 ^item-type start-goal ^next <lti999172>)
+    (<lti999167> ^arg-type object ^id <lti999168>)
+    (<lti999173> ^subtask <lti999174> <lti999182> <lti999205> <lti999323> <lti999330> <lti999374>)
+    (<lti999172> ^goal <lti999170> ^learned proposal)
+      (<lti999174> ^arg1 <lti999175> ^handle subtask81 ^modifiers <lti999176> ^op_name op_ask1 ^subgoal-specific guard1goal82 ^task-handle ask1)
+      (<lti999182> ^arg1 <lti999183> ^arg2 <lti999184> ^handle subtask86 ^modifiers <lti999185> ^op_name op_remember1 ^subgoal-specific guard1goal87 ^task-handle remember1)
+      (<lti999205> ^arg1 <lti999206> ^handle subtask93 ^op_name op_inspect11 ^subgoal-specific guard1goal94 ^task-handle inspect1)
+      (<lti999323> ^arg1 <lti999324> ^handle subtask141 ^op_name op_inspect11 ^subgoal-specific guard1goal142 ^task-handle inspect1)
+      (<lti999330> ^arg1 <lti999331> ^handle subtask145 ^op_name op_inspect11 ^subgoal-specific guard1goal146 ^task-handle inspect1)
+      (<lti999374> ^arg2 <lti999375> ^handle subtask165 ^op_name op_go-to-location1 ^subgoal-specific guard1goal166 ^task-handle go-to-location1)
+      (<lti999170> ^1 <lti999171> ^handle guard1goal82 ^item-type task-goal ^next <lti999181> ^pred-count 1)
+        (<lti999175> ^arg-type object ^id <lti999177>)
+        (<lti999176> ^arg-type modifiers ^mod-handle once1)
+        (<lti999183> ^arg-type object ^id <lti999187>)
+        (<lti999184> ^arg-type object ^id <lti999186>)
+        (<lti999185> ^arg-type modifiers ^mod-handle once1)
+        (<lti999206> ^arg-type object ^id <lti999207>)
+        (<lti999324> ^arg-type object ^id <lti999325>)
+        (<lti999331> ^arg-type object ^id <lti999332>)
+        (<lti999375> ^2 <lti999377> ^arg-type partial-predicate ^id <lti999376>)
+        (<lti999171> ^subtask-handle subtask81 ^type subtask)
+        (<lti999181> ^goal <lti999179> ^learned proposal)
+          (<lti999177> ^abstract true ^default <lti999178>)
+          (<lti999187> ^default <lti999188>)
+          (<lti999186> ^default <lti999189>)
+          (<lti999207> ^default <lti999208>)
+          (<lti999325> ^default <lti999326>)
+          (<lti999332> ^default <lti999333>)
+          (<lti999376> ^default <lti999378>)
+          (<lti999377> ^default <lti999379>)
+          (<lti999179> ^1 <lti999180> ^handle guard1goal87 ^item-type task-goal ^next <lti999195> ^pred-count 1)
+            (<lti999178> ^category message ^sentence |who is my relieving officer?|)
+            (<lti999188> ^modifier1 answered1)
+            (<lti999189> ^category officer1 ^modifier1 relieving1)
+            (<lti999208> ^category room1 ^name messhall1)
+            (<lti999326> ^cardinal-direction1 east1 ^category post1)
+            (<lti999333> ^category room1 ^name motorpool1)
+            (<lti999378> ^predicate-handle to1)
+            (<lti999379> ^category office1 ^possessive cos1)
+            (<lti999180> ^subtask-handle subtask86 ^type subtask)
+            (<lti999195> ^goal <lti999193> ^learned proposal)
+              (<lti999193> ^handle guard1repeat92 ^item-type repeat-goal ^next <lti999194> <lti999204> ^pred-count 0)
+                (<lti999194> ^conditions <lti999196> ^goal <lti999192> ^learned proposal)
+                (<lti999204> ^goal <lti999202>)
+                  (<lti999192> ^handle guard1exit91 ^item-type loop-exit ^next <lti999382> ^pred-count 0)
+                  (<lti999196> ^1 <lti999197> ^pred-count 1)
+                  (<lti999202> ^1 <lti999203> ^handle guard1goal94 ^item-type task-goal ^next <lti999322> ^pred-count 1)
+                    (<lti999382> ^goal <lti999381> ^learned proposal)
+                    (<lti999197> ^1 <lti999199> ^id <lti999198> ^type unary)
+                    (<lti999203> ^subtask-handle subtask93 ^type subtask)
+                    (<lti999322> ^goal <lti999320> ^learned proposal)
+                      (<lti999381> ^handle guard1term168 ^item-type terminal-goal)
+                      (<lti999198> ^default <lti999200>)
+                      (<lti999199> ^default <lti999201>)
+                      (<lti999320> ^1 <lti999321> ^handle guard1goal142 ^item-type task-goal ^next <lti999329> ^pred-count 1)
+                        (<lti999200> ^predicate-handle confirmed1 ^property-handle is-confirmed1)
+                        (<lti999201> ^category officer1 ^modifier1 relieving1)
+                        (<lti999321> ^subtask-handle subtask141 ^type subtask)
+                        (<lti999329> ^goal <lti999327> ^learned proposal)
+                          (<lti999327> ^1 <lti999328> ^handle guard1goal146 ^item-type task-goal ^next <lti999373> ^pred-count 1)
+                            (<lti999328> ^subtask-handle subtask145 ^type subtask)
+                            (<lti999373> ^goal <lti999371> ^learned proposal)
+                              (<lti999371> ^1 <lti999372> ^handle guard1goal166 ^item-type task-goal ^next <lti999380> ^pred-count 1)
+                                (<lti999372> ^subtask-handle subtask165 ^type subtask)
+                                (<lti999380> ^goal <lti999193> ^learned proposal)
+
+}
+
+smem --add {
+(@inspect1 ^goal-graph <lti999003> ^handle inspect1 ^procedural <lti999000>)
+  (<lti999000> ^arg1 <lti999001> ^op_name op_inspect11 ^subtasks <lti999007>)
+  (<lti999003> ^handle inspect1start155 ^item-type start-goal ^next <lti999006>)
+    (<lti999001> ^arg-type object ^id <lti999002>)
+    (<lti999007> ^subtask <lti999008> <lti999024> <lti999044> <lti999065> <lti999082> <lti999232> <lti999277> <lti999346> <lti999354> <lti999362>)
+    (<lti999006> ^goal <lti999004>)
+      (<lti999008> ^arg2 <lti999009> ^handle subtask3 ^op_name op_go-to-location1 ^subgoal-specific inspect1goal4 ^task-handle go-to-location1)
+      (<lti999024> ^arg1 <lti999025> ^handle subtask5 ^op_name op_turn-on1 ^subgoal-specific inspect1goal6 ^task-handle turn-on1)
+      (<lti999044> ^arg1 <lti999045> ^arg2 <lti999046> ^handle subtask19 ^op_name op_fetch12 ^subgoal-specific inspect1goal21 ^task-handle fetch1)
+      (<lti999065> ^arg1 <lti999066> ^arg2 <lti999067> ^handle subtask28 ^op_name op_ensure115 ^subgoal-specific inspect1goal29 ^task-handle ensure1)
+      (<lti999082> ^arg1 <lti999083> ^handle subtask33 ^op_name op_turn-off1 ^subgoal-specific inspect1goal35 ^task-handle turn-off1)
+      (<lti999232> ^arg1 <lti999233> ^arg2 <lti999234> ^handle subtask99 ^op_name op_move198 ^subgoal-specific inspect1goal101 ^task-handle move1)
+      (<lti999277> ^arg1 <lti999278> ^handle subtask117 ^op_name op_store1116 ^subgoal-specific inspect1goal118 ^task-handle store1)
+      (<lti999346> ^arg1 <lti999347> ^arg2 <lti999348> ^handle subtask158 ^op_name op_ensure115 ^task-handle ensure1)
+      (<lti999354> ^arg1 <lti999355> ^arg2 <lti999356> ^handle subtask160 ^op_name op_ensure115 ^task-handle ensure1)
+      (<lti999362> ^arg1 <lti999363> ^handle subtask162 ^op_name op_lock1 ^task-handle lock1)
+      (<lti999004> ^1 <lti999005> ^handle inspect1goal154 ^item-type task-goal ^next <lti999016> <lti999017> ^pred-count 1)
+        (<lti999009> ^2 <lti999002> ^arg-type partial-predicate ^id <lti999010>)
+        (<lti999025> ^arg-type object ^id <lti999026>)
+        (<lti999045> ^arg-type object ^id <lti999049>)
+        (<lti999046> ^2 <lti999048> ^arg-type partial-predicate ^id <lti999047>)
+        (<lti999066> ^arg-type object ^id <lti999069>)
+        (<lti999067> ^arg-type concept ^id <lti999068>)
+        (<lti999083> ^arg-type object ^id <lti999084>)
+        (<lti999233> ^arg-type object ^id <lti999237>)
+        (<lti999234> ^2 <lti999236> ^arg-type partial-predicate ^id <lti999235>)
+        (<lti999278> ^arg-type object ^id <lti999279>)
+        (<lti999347> ^arg-type object ^id <lti999350>)
+        (<lti999348> ^arg-type concept ^id <lti999349>)
+        (<lti999355> ^arg-type object ^id <lti999358>)
+        (<lti999356> ^arg-type concept ^id <lti999357>)
+        (<lti999363> ^arg-type object ^id <lti999364>)
+        (<lti999005> ^subtask-handle subtask3 ^type subtask)
+        (<lti999016> ^conditions <lti999018> ^goal <lti999012>)
+        (<lti999017> ^goal <lti999015>)
+          (<lti999010> ^default <lti999011>)
+          (<lti999026> ^default <lti999027>)
+          (<lti999049> ^default <lti999050>)
+          (<lti999047> ^default <lti999051>)
+          (<lti999048> ^default <lti999052>)
+          (<lti999069> ^default <lti999070>)
+          (<lti999068> ^default <lti999071>)
+          (<lti999084> ^default <lti999085>)
+          (<lti999237> ^default <lti999238>)
+          (<lti999235> ^default <lti999239>)
+          (<lti999236> ^default <lti999240>)
+          (<lti999279> ^default <lti999280>)
+          (<lti999350> ^default <lti999351>)
+          (<lti999349> ^default <lti999352>)
+          (<lti999358> ^default <lti999359>)
+          (<lti999357> ^default <lti999360>)
+          (<lti999364> ^default <lti999365>)
+          (<lti999012> ^1 <lti999014> ^handle inspect1goal156 ^item-type task-goal ^next <lti999013> ^pred-count 1)
+          (<lti999018> ^1 <lti999019> ^pred-count 1)
+          (<lti999015> ^handle inspect1int153 ^item-type intermediate-goal ^next <lti999340> <lti999341> ^pred-count 0)
+            (<lti999011> ^predicate-handle to1)
+            (<lti999027> ^category lightswitch1)
+            (<lti999050> ^category extinguisher1)
+            (<lti999051> ^predicate-handle from1)
+            (<lti999052> ^category room1 ^modifier1 supply1)
+            (<lti999070> ^category sentry1)
+            (<lti999071> ^predicate-handle confirmed1)
+            (<lti999085> ^category lightswitch1)
+            (<lti999238> ^category plate1)
+            (<lti999239> ^predicate-handle in1)
+            (<lti999240> ^category sink1)
+            (<lti999280> ^category condiment1)
+            (<lti999351> ^category sentry1)
+            (<lti999352> ^predicate-handle confirmed1)
+            (<lti999359> ^category dispatcher1)
+            (<lti999360> ^predicate-handle confirmed1)
+            (<lti999365> ^category vehicle1)
+            (<lti999013> ^goal <lti999015> ^learned proposal)
+            (<lti999014> ^subtask-handle subtask5 ^type subtask)
+            (<lti999019> ^1 <lti999021> ^id <lti999020> ^type unary)
+            (<lti999340> ^goal <lti999339>)
+            (<lti999341> ^conditions <lti999342> ^goal <lti999337> ^learned proposal)
+              (<lti999020> ^default <lti999022>)
+              (<lti999021> ^default <lti999023>)
+              (<lti999339> ^handle inspect1int152 ^item-type intermediate-goal ^next <lti999219> <lti999220> ^pred-count 0)
+              (<lti999337> ^1 <lti999353> ^2 <lti999361> ^3 <lti999366> ^handle inspect1goal151 ^item-type task-goal ^next <lti999338> ^pred-count 3)
+              (<lti999342> ^1 <lti999343> ^pred-count 1)
+                (<lti999022> ^predicate-handle not-activated1 ^property-handle is-activated1)
+                (<lti999023> ^category lightswitch1)
+                (<lti999219> ^goal <lti999215>)
+                (<lti999220> ^conditions <lti999221> ^goal <lti999216>)
+                (<lti999338> ^goal <lti999339> ^learned proposal)
+                (<lti999353> ^subtask-handle subtask158 ^type subtask)
+                (<lti999361> ^subtask-handle subtask160 ^type subtask)
+                (<lti999366> ^subtask-handle subtask162 ^type subtask)
+                (<lti999343> ^1 <lti999344> ^name current-location ^type status)
+                  (<lti999215> ^handle inspect1int120 ^item-type intermediate-goal ^next <lti999264> <lti999265> ^pred-count 0)
+                  (<lti999216> ^1 <lti999218> ^handle inspect1goal125 ^item-type task-goal ^next <lti999217> ^pred-count 1)
+                  (<lti999221> ^1 <lti999222> ^2 <lti999223> ^pred-count 2)
+                  (<lti999344> ^default <lti999345>)
+                    (<lti999264> ^conditions <lti999266> ^goal <lti999260> ^learned proposal)
+                    (<lti999265> ^goal <lti999263> ^learned proposal)
+                    (<lti999217> ^goal <lti999215>)
+                    (<lti999218> ^subtask-handle subtask99 ^type subtask)
+                    (<lti999222> ^1 <lti999227> ^name current-location ^type status)
+                    (<lti999223> ^1 <lti999225> ^2 <lti999226> ^id <lti999224> ^type relation)
+                    (<lti999345> ^category room1 ^name motorpool1)
+                      (<lti999260> ^1 <lti999262> ^handle inspect1goal118 ^item-type task-goal ^next <lti999261> ^pred-count 1)
+                      (<lti999266> ^1 <lti999267> ^2 <lti999268> ^pred-count 2)
+                      (<lti999263> ^handle inspect1int119 ^item-type intermediate-goal ^next <lti999036> <lti999037> ^pred-count 0)
+                      (<lti999227> ^default <lti999228>)
+                      (<lti999224> ^default <lti999229>)
+                      (<lti999225> ^default <lti999230>)
+                      (<lti999226> ^default <lti999231>)
+                        (<lti999261> ^goal <lti999263> ^learned proposal)
+                        (<lti999262> ^subtask-handle subtask117 ^type subtask)
+                        (<lti999267> ^1 <lti999272> ^name current-location ^type status)
+                        (<lti999268> ^1 <lti999270> ^2 <lti999271> ^id <lti999269> ^type relation)
+                        (<lti999036> ^goal <lti999032>)
+                        (<lti999037> ^conditions <lti999038> ^goal <lti999033>)
+                        (<lti999228> ^category room1 ^name messhall1)
+                        (<lti999229> ^predicate-handle on1)
+                        (<lti999230> ^category plate1)
+                        (<lti999231> ^category table1)
+                          (<lti999272> ^default <lti999273>)
+                          (<lti999269> ^default <lti999274>)
+                          (<lti999270> ^default <lti999275>)
+                          (<lti999271> ^default <lti999276>)
+                          (<lti999032> ^handle inspect1int20 ^item-type intermediate-goal ^next <lti999059> <lti999060> ^pred-count 0)
+                          (<lti999033> ^1 <lti999035> ^handle inspect1goal21 ^item-type task-goal ^next <lti999034> ^pred-count 1)
+                          (<lti999038> ^1 <lti999039> ^2 <lti999040> ^pred-count 2)
+                            (<lti999273> ^category room1 ^name messhall1)
+                            (<lti999274> ^predicate-handle on1)
+                            (<lti999275> ^category condiment1)
+                            (<lti999276> ^category table1)
+                            (<lti999059> ^conditions <lti999061> ^goal <lti999055> ^learned proposal)
+                            (<lti999060> ^goal <lti999058> ^learned proposal)
+                            (<lti999034> ^goal <lti999032> ^learned proposal)
+                            (<lti999035> ^subtask-handle subtask19 ^type subtask)
+                            (<lti999039> ^1 <lti999042> ^name current-location ^type status)
+                            (<lti999040> ^1 <lti999041> ^pred-count 1 ^type object-missing)
+                              (<lti999055> ^1 <lti999057> ^handle inspect1goal29 ^item-type task-goal ^next <lti999056> ^pred-count 1)
+                              (<lti999061> ^1 <lti999062> ^pred-count 1)
+                              (<lti999058> ^handle inspect1int30 ^item-type intermediate-goal ^next <lti999076> <lti999077> ^pred-count 0)
+                              (<lti999042> ^default <lti999043>)
+                              (<lti999041> ^predicate-handle extinguisher1 ^property-handle category)
+                                (<lti999056> ^goal <lti999058> ^learned proposal)
+                                (<lti999057> ^subtask-handle subtask28 ^type subtask)
+                                (<lti999062> ^1 <lti999063> ^name current-location ^type status)
+                                (<lti999076> ^conditions <lti999078> ^goal <lti999073> ^learned proposal)
+                                (<lti999077> ^goal <lti999072> ^learned proposal)
+                                (<lti999043> ^category post1)
+                                  (<lti999063> ^default <lti999064>)
+                                  (<lti999073> ^1 <lti999075> ^handle inspect1goal35 ^item-type task-goal ^next <lti999074> ^pred-count 1)
+                                  (<lti999078> ^1 <lti999079> ^pred-count 1)
+                                  (<lti999072> ^handle inspect1int34 ^item-type intermediate-goal ^next <lti999087> ^pred-count 0)
+                                    (<lti999064> ^category post1)
+                                    (<lti999074> ^goal <lti999072> ^learned proposal)
+                                    (<lti999075> ^subtask-handle subtask33 ^type subtask)
+                                    (<lti999079> ^1 <lti999002> ^id <lti999080> ^type unary)
+                                    (<lti999087> ^goal <lti999086> ^learned proposal)
+                                      (<lti999080> ^default <lti999081>)
+                                      (<lti999086> ^handle inspect1term36 ^item-type terminal-goal)
+                                        (<lti999081> ^predicate-handle empty1 ^property-handle contents1)
+}
+
+smem --add {
+(@raise1 ^goal-graph <lti999091> ^handle raise1 ^procedural <lti999088>)
+  (<lti999088> ^arg1 <lti999089> ^op_name op_raise138 ^subtasks <lti999095>)
+  (<lti999091> ^handle raise1start39 ^item-type start-goal ^next <lti999094>)
+    (<lti999089> ^arg-type object ^id <lti999090>)
+    (<lti999095> ^subtask <lti999096> <lti999107> <lti999116> <lti999123> <lti999140> <lti999147>)
+    (<lti999094> ^goal <lti999092> ^learned proposal)
+      (<lti999096> ^arg1 <lti999097> ^arg2 <lti999098> ^handle subtask42 ^modifiers <lti999099> ^op_name op_remember1 ^subgoal-specific raise1goal43 ^task-handle remember1)
+      (<lti999107> ^arg2 <lti999108> ^handle subtask46 ^op_name op_go-to-location1 ^subgoal-specific raise1goal47 ^task-handle go-to-location1)
+      (<lti999116> ^arg1 <lti999117> ^handle subtask49 ^op_name op_turn-on1 ^subgoal-specific raise1goal50 ^task-handle turn-on1)
+      (<lti999123> ^arg1 <lti999124> ^arg2 <lti999125> ^handle subtask55 ^op_name op_say1 ^subgoal-specific raise1goal56 ^task-handle say1)
+      (<lti999140> ^arg1 <lti999141> ^handle subtask63 ^op_name op_describe1 ^subgoal-specific raise1goal64 ^task-handle describe1)
+      (<lti999147> ^arg2 <lti999148> ^handle subtask66 ^op_name op_go-to-location1 ^subgoal-specific raise1goal67 ^task-handle go-to-location1)
+      (<lti999092> ^1 <lti999093> ^handle raise1goal43 ^item-type task-goal ^next <lti999106> ^pred-count 1)
+        (<lti999097> ^arg-type object ^id <lti999101>)
+        (<lti999098> ^arg-type object ^id <lti999100>)
+        (<lti999099> ^arg-type modifiers ^mod-handle once1)
+        (<lti999108> ^2 <lti999110> ^arg-type partial-predicate ^id <lti999109>)
+        (<lti999117> ^arg-type object ^id <lti999118>)
+        (<lti999124> ^arg-type object ^id <lti999128>)
+        (<lti999125> ^2 <lti999127> ^arg-type partial-predicate ^id <lti999126>)
+        (<lti999141> ^arg-type object ^id <lti999142>)
+        (<lti999148> ^2 <lti999150> ^arg-type partial-predicate ^id <lti999149>)
+        (<lti999093> ^subtask-handle subtask42 ^type subtask)
+        (<lti999106> ^goal <lti999104> ^learned proposal)
+          (<lti999101> ^default <lti999102>)
+          (<lti999100> ^default <lti999103>)
+          (<lti999109> ^default <lti999111>)
+          (<lti999110> ^default <lti999112>)
+          (<lti999118> ^default <lti999119>)
+          (<lti999128> ^abstract true ^default <lti999129>)
+          (<lti999126> ^default <lti999130>)
+          (<lti999127> ^default <lti999131>)
+          (<lti999142> ^default <lti999143>)
+          (<lti999149> ^default <lti999151>)
+          (<lti999150> ^default <lti999152>)
+          (<lti999104> ^1 <lti999105> ^handle raise1goal47 ^item-type task-goal ^next <lti999115> ^pred-count 1)
+            (<lti999102> ^category location ^modifier1 current1)
+            (<lti999103> ^category location ^modifier1 emergency1)
+            (<lti999111> ^predicate-handle to1)
+            (<lti999112> ^cardinal-direction1 east1 ^category hall1)
+            (<lti999119> ^category alarm1)
+            (<lti999129> ^category message ^sentence |there is a fire.|)
+            (<lti999130> ^predicate-handle to1)
+            (<lti999131> ^category officer1 ^name co1)
+            (<lti999143> ^category location ^modifier1 emergency1)
+            (<lti999151> ^predicate-handle to1)
+            (<lti999152> ^category location ^modifier1 emergency1)
+            (<lti999105> ^subtask-handle subtask46 ^type subtask)
+            (<lti999115> ^goal <lti999113> ^learned proposal)
+              (<lti999113> ^1 <lti999114> ^handle raise1goal50 ^item-type task-goal ^next <lti999122> ^pred-count 1)
+                (<lti999114> ^subtask-handle subtask49 ^type subtask)
+                (<lti999122> ^goal <lti999120> ^learned proposal)
+                  (<lti999120> ^1 <lti999121> ^handle raise1goal56 ^item-type task-goal ^next <lti999139> ^pred-count 1)
+                    (<lti999121> ^subtask-handle subtask55 ^type subtask)
+                    (<lti999139> ^goal <lti999137> ^learned proposal)
+                      (<lti999137> ^1 <lti999138> ^handle raise1goal64 ^item-type task-goal ^next <lti999146> ^pred-count 1)
+                        (<lti999138> ^subtask-handle subtask63 ^type subtask)
+                        (<lti999146> ^goal <lti999144> ^learned proposal)
+                          (<lti999144> ^1 <lti999145> ^handle raise1goal67 ^item-type task-goal ^next <lti999154> ^pred-count 1)
+                            (<lti999145> ^subtask-handle subtask66 ^type subtask)
+                            (<lti999154> ^goal <lti999153> ^learned proposal)
+                              (<lti999153> ^handle raise1term69 ^item-type terminal-goal)
+
+}
+
+smem --add {
+(@move1 ^goal-graph <lti999241> ^handle move1 ^procedural <lti999209>)
+  (<lti999209> ^arg1 <lti999211> ^arg2 <lti999210> ^op_name op_move198 ^subtasks <lti999247>)
+  (<lti999241> ^handle move1start108 ^item-type start-goal ^next <lti999246>)
+    (<lti999210> ^2 <lti999214> ^arg-type partial-predicate ^id <lti999213>)
+    (<lti999211> ^arg-type object ^id <lti999212>)
+    (<lti999247> ^subtask <lti999248> <lti999250>)
+    (<lti999246> ^goal <lti999242> ^learned proposal)
+      (<lti999248> ^arg1 <lti999249> ^handle subtask111 ^op_name op_pick-up1 ^task-handle pick-up1)
+      (<lti999250> ^arg1 <lti999251> ^arg2 <lti999252> ^handle subtask112 ^op_name op_put-down1 ^task-handle put-down1)
+      (<lti999242> ^1 <lti999244> ^handle move1goal109 ^item-type task-goal ^next <lti999243> ^pred-count 1)
+        (<lti999249> ^arg-type object ^id <lti999212>)
+        (<lti999251> ^arg-type object ^id <lti999212>)
+        (<lti999252> ^2 <lti999214> ^arg-type partial-predicate ^id <lti999213>)
+        (<lti999243> ^goal <lti999245> ^learned proposal)
+        (<lti999244> ^1 <lti999212> ^2 <lti999214> ^id <lti999213> ^type relation)
+          (<lti999245> ^handle move1term110 ^item-type terminal-goal)
+}
+
+smem --add {
+(@store1 ^goal-graph <lti999281> ^handle store1 ^procedural <lti999257>)
+  (<lti999257> ^arg1 <lti999258> ^op_name op_store1116 ^subtasks <lti999300>)
+  (<lti999281> ^handle store1start127 ^item-type start-goal ^next <lti999295>)
+    (<lti999258> ^arg-type object ^id <lti999259>)
+    (<lti999300> ^subtask <lti999301> <lti999307> <lti999309> <lti999314>)
+    (<lti999295> ^conditions <lti999296> ^goal <lti999283> ^learned proposal)
+      (<lti999301> ^arg1 <lti999302> ^handle subtask132 ^op_name op_open1 ^task-handle open1)
+      (<lti999307> ^arg1 <lti999308> ^handle subtask135 ^op_name op_pick-up1 ^task-handle pick-up1)
+      (<lti999309> ^arg1 <lti999310> ^arg2 <lti999311> ^handle subtask136 ^op_name op_put-down1 ^task-handle put-down1)
+      (<lti999314> ^arg1 <lti999315> ^handle subtask137 ^op_name op_close1 ^task-handle close1)
+      (<lti999283> ^1 <lti999286> ^2 <lti999285> ^handle store1goal129 ^item-type task-goal ^next <lti999284> ^pred-count 2)
+      (<lti999296> ^1 <lti999297> ^pred-count 1)
+        (<lti999302> ^arg-type object ^id <lti999290>)
+        (<lti999308> ^arg-type object ^id <lti999259>)
+        (<lti999310> ^arg-type object ^id <lti999259>)
+        (<lti999311> ^2 <lti999288> ^arg-type partial-predicate ^id <lti999312>)
+        (<lti999315> ^arg-type object ^id <lti999288>)
+        (<lti999284> ^goal <lti999282> ^learned proposal)
+        (<lti999285> ^1 <lti999259> ^2 <lti999290> ^id <lti999289> ^type relation)
+        (<lti999286> ^1 <lti999288> ^id <lti999287> ^type unary)
+        (<lti999297> ^1 <lti999259> ^id <lti999298> ^type unary)
+          (<lti999290> ^default <lti999292>)
+          (<lti999288> ^default <lti999294>)
+          (<lti999312> ^default <lti999313>)
+          (<lti999282> ^handle store1term128 ^item-type terminal-goal)
+          (<lti999289> ^default <lti999291>)
+          (<lti999287> ^default <lti999293>)
+          (<lti999298> ^default <lti999299>)
+            (<lti999292> ^category fridge1)
+            (<lti999294> ^category fridge1)
+            (<lti999313> ^predicate-handle in1)
+            (<lti999291> ^predicate-handle in1)
+            (<lti999293> ^predicate-handle not-open1 ^property-handle is-open1)
+            (<lti999299> ^predicate-handle condiment1 ^property-handle category)
+}
diff --git a/examples/kitchen-study/extra-soar-rules.soar b/examples/kitchen-study/extra-soar-rules.soar
new file mode 100644
index 0000000000..bb91852dee
--- /dev/null
+++ b/examples/kitchen-study/extra-soar-rules.soar
@@ -0,0 +1,290 @@
+sp {top-state*elaborate*agent-params*custom
+   (state <s> ^superstate nil
+              ^agent-params <p>)
+-->
+   (<p> ^debug-ids true
+#       ^report-tasks-to-output-link true
+#       ^debug-op-ties true
+#       ^debug-wait-limit 3
+
+#       ^interrupt-operator interpret-message 
+#       ^interrupt-end-of-sentence true
+#       ^interrupt-new-task true
+#       ^interrupt-task-search true
+        
+        ^print-perception true
+#       ^print-new-task true
+#       ^print-new-task-shorthand true
+#       ^print-wp-search-path-costs true
+#       ^print-parsed-messages true
+#       ^print-outgoing-messages true
+#       ^print-interaction-stack true
+
+   )
+}
+
+# Load chunks for fetch
+#source fetch-chunks.soar
+#source full-training-chunks.soar
+
+source waypoint-map.soar
+source internal-world.soar
+
+#explain all on
+
+sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*internal
+   (state <s> ^superstate nil
+              ^agent-params.domain internal
+              ^world.predicates <preds>
+              ^perception-monitor.predicate-monitor <pred-mon>)
+-->
+   (<preds> ^predicate.handle in1)
+   (<preds> ^predicate.handle on1)
+   (<preds> ^predicate.handle holding1)
+   (<preds> ^predicate.handle heard2)
+}
+
+sp {top-state*perception-monitor*predicate-monitor*elaborate*default*predicates*magicbot
+   (state <s> ^superstate nil
+              ^agent-params.domain magicbot
+              ^world.predicates <preds>
+              ^perception-monitor.predicate-monitor <pred-mon>)
+-->
+   # Extract predicates via SVS
+   (<pred-mon> ^predicate-info.predicate-handle in1)
+   (<pred-mon> ^predicate-info.predicate-handle on1)
+
+   (<preds> ^predicate.handle holding1)
+   (<preds> ^predicate.handle heard2)
+}
+
+# Remove modifiers relieiving or emergency when the top task segment is popped
+sp {problem-space*action*pop-task-segment*apply*complete-pop-task-segment*remove*modifiers*relieving
+   (state <s> ^name pop-task-segment
+              ^operator.name complete-pop-task-segment
+              ^segment-to-pop <seg>
+              ^task-stack.top <seg>
+              ^top-state.world.objects.object.predicates <preds>)
+   (<preds> ^modifier1 { <mod> << relieving1 emergency1 >> })
+-->
+   (<preds> ^modifier1 <mod> -)
+}
+
+########### SCRIPTING CONDITIONS ###############
+# These are ways of advancing the script in response to 
+# some conditions being met in the world
+
+sp {top-state*elaborate*script-triggers
+   (state <s> ^superstate nil)
+-->
+   (<s> ^script-triggers <tr>)
+}
+
+sp {top-state*propose*get-next-script-message
+   (state <s> ^superstate nil
+              ^script-triggers <tr>)
+   (<tr> ^trigger <h>
+        -^handled <h>)
+-->
+   (<s> ^operator <o> + > = !)
+   (<o> ^name get-next-script-message
+        ^handle <h>)
+}
+
+sp {top-state*apply*get-next-script-message
+   (state <s> ^superstate nil
+              ^operator <o>
+              ^script-triggers <tr>
+              ^interaction.changes <chgs>)
+   (<o> ^name get-next-script-message
+        ^handle <h>)
+-->
+   (<tr> ^handled <h>)
+   (<chgs> ^outgoing-message <msg>)
+   (<msg> ^type get-next-script-message
+          ^complete-message true
+          ^fields.trigger <h>)
+}
+
+## Trigger 1: First time we turn-on the lights in the messhall, interrupt
+#sp {top-state*elaborate*script-triggers*messhall_1
+#   (state <s> ^superstate nil
+#              ^script-triggers <tr>
+#              ^task-stack.bottom.task-operator.name op_turn-on1
+#              ^world.robot.current-location.predicates.name messhall1)
+#-->
+#   (<tr> ^trigger messhall_1)
+#}
+#
+## Trigger 2: First time we turn on the lights in the motorpool, interrupt
+#sp {top-state*elaborate*script-triggers*motorpool_1
+#   (state <s> ^superstate nil
+#              ^script-triggers <tr>
+#              ^task-stack.bottom.task-operator.name op_turn-on1
+#              ^world.robot.current-location.predicates.name motorpool1)
+#-->
+#   (<tr> ^trigger motorpool_1)
+#}
+
+sp {top-state*elaborate*script-triggers*inspect-mh1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>
+              ^world.objects.object <off>)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name messhall1)
+   (<off> ^root-category officer1
+          ^predicates <preds>)
+   (<preds> ^name williams1
+            ^modifier1 relieving1)
+-->
+   (<tr> ^trigger inspect-mh1)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-esp1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mh1)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.root-category post1)
+-->
+   (<tr> ^trigger inspect-esp1)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-mp1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-esp1)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name motorpool1)
+-->
+   (<tr> ^trigger inspect-mp1)
+}
+
+sp {top-state*elaborate*script-triggers*raise-alarm1
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mp1)
+   (<task-op> ^task-handle raise1)
+-->
+   (<tr> ^trigger raise-alarm1)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-mh2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mp1)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name messhall1)
+-->
+   (<tr> ^trigger inspect-mh2)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-esp2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mh2)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.root-category post1)
+-->
+   (<tr> ^trigger inspect-esp2)
+}
+
+sp {top-state*elaborate*script-triggers*inspect-mp2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-esp2)
+   (<task-op> ^task-handle inspect1
+              ^arg1.id.predicates.name motorpool1)
+-->
+   (<tr> ^trigger inspect-mp2)
+}
+
+sp {top-state*elaborate*script-triggers*go-to-co2
+   (state <s> ^superstate nil
+              ^script-triggers <tr>
+              ^task-stack.segments.segment.task-operator <task-op>)
+   (<tr> ^handled inspect-mp2)
+   (<task-op> ^task-handle go-to-location1
+              ^arg1.id.predicates.possessive cos1)
+-->
+   (<tr> ^trigger go-to-co2)
+}
+
+###### Rules for printing events
+sp {complete-push-task-segment*report*time*info
+   (state <s> ^name push-task-segment
+              ^operator.name complete-push-task-segment
+              ^segment-to-push.task-operator.task-handle <task-h>
+              ^io.input-link.time <t>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$START-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
+}
+
+sp {complete-pop-task-segment*report*time*info
+   (state <s> ^name pop-task-segment
+              ^operator.name complete-pop-task-segment
+              ^segment-to-pop.task-operator.task-handle <task-h>
+              ^io.input-link.time <t>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$END-TASK$ | <task-h> | | <steps> | | <ms> (crlf))
+}
+
+sp {search-for-next-subtask*start*report*time*info
+   (state <s> ^operator.name search-for-next-subtask
+              ^superstate.task-operator.task-handle <task-h>
+              ^io.input-link.time <t>
+             -^reported-time)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$BEGIN-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
+   (<s> ^reported-time true)
+}
+
+sp {search-for-next-subtask*finish*report*time*info
+   (state <s> ^name search-for-next-subtask
+              ^superstate.superstate.task-operator.task-handle <task-h>
+              ^operator.name << return-successful-operator initiate-interaction >>
+              ^io.input-link.time <t>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$END-SEARCH$ | <task-h> | | <steps> | | <ms> (crlf))
+}
+
+sp {apply*select-next-goal*report*goal*handle
+   (state <s> ^problem-space.subproblem execute
+              ^operator <o>
+              ^apply-select-next-goal true
+              ^task-operator.task-handle <task-h>
+              ^io.input-link.time <t>)
+   (<o> ^name select-next-goal
+        ^next-goal-handle <goal-h>)
+   (<t> ^steps <steps>
+        ^milliseconds <ms>)
+-->
+   (write (crlf) |$SELECTED-GOAL$ | <goal-h> | | <steps> | | <ms> (crlf))
+}
+
+#sp {interrupt*mltiple*objs
+#   (state <s> ^superstate nil
+#              ^world.objects <objs>)
+#   (<objs> ^object <obj1>
+#           ^object { <obj2> <> <obj1> })
+#   (<obj1> ^handle <h>)
+#   (<obj2> ^handle <h>)
+#-->
+#   (interrupt)
+#   (write |DUPLICATE HANDLE: | <h>)
+#}
diff --git a/examples/kitchen-study/fetch-chunks.soar b/examples/kitchen-study/fetch-chunks.soar
new file mode 100644
index 0000000000..a9e182f3fc
--- /dev/null
+++ b/examples/kitchen-study/fetch-chunks.soar
@@ -0,0 +1,4153 @@
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<s2> ^name <n2>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<s2> ^name <n2>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> })
+    (<p2> ^<a10> <a11> -^<a14> { <a15> <> <a11> <> <a13> } ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a16> ^<a3> <a17> ^<a5> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+    (<a17> ^handle <h2> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a10> <a11> ^<a12> <a13>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> -^<a12> { <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15> ^<a5> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i1> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a19> <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> < <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a19> <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> < <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h1> <> <h2> }
+          ^handle <h2>)
+    (<a3> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h1>
+          ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h4>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h1>
+          ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h4>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h2> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h2> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask subtask8 -^performed-subtask <p1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^handle <h2> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4> ^<i2> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i5> ^1 <i4> ^handle <h2> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
diff --git a/examples/kitchen-study/final-chunks.txt b/examples/kitchen-study/final-chunks.txt
new file mode 100644
index 0000000000..3969abba0c
--- /dev/null
+++ b/examples/kitchen-study/final-chunks.txt
@@ -0,0 +1,14698 @@
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1800240-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int119)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1436584-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*3*implicit*OpNoChange*t1041516-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal151 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal151 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2> ^implicit-object <i3>)
+    (<i1> ^default <d1>)
+    (<d1> ^category vehicle1)
+    (<i2> ^default <d2>)
+    (<d2> ^category dispatcher1)
+    (<i3> ^default <d3>)
+    (<d3> ^category sentry1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t941552-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle explore1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle explore1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t941541-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle explore1)
+    (<o1> ^next-goal-handle explore1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t941532-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle explore1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle explore1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t850765-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle explore1)
+    (<o1> ^next-goal-handle explore1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t850756-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle explore1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle explore1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t850742-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle explore1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle explore1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t652568-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> -^<a8> { <a9> <> <a7> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a10>)
+    (<a10> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t300795-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int152)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int120
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t300780-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal154)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t131665-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal125)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int120
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t124261-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal125)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal125)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t124222-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal125 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal125 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t124211-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal125
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t124188-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int153)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t119428-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal156 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal156 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t119417-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal154)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal156
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1660-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal154)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal154)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1645-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal154 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1634-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start155)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal154
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1621-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start155)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start155 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1570-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1repeat92)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal94
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6> ^<a10> <a11>
+          ^{ <a12> < <a10> } <a13> ^{ <a14> < <a12> } <a15>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    (<a11> ^arg-type modifiers ^handle <h5>)
+    (<a13> ^arg-type object ^id <o6>)
+    (<a15> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<a4> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> } ^<a14> <a15>
+          ^<a16> { <a17> < <a15> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> })
+    (<p2> ^<a10> <a11> -^<a14> { <a15> <> <a11> <> <a13> } ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a7> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> < <a7> } -^<a10> { <a11> <> <a7> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a6> <a7> ^<a8> <a9>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a16> ^<a3> <a17> ^<a5> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+    (<a17> ^handle <h2> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a10> <a11> ^<a12> <a13>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a10> <a11> -^<a12> { <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15> ^<a5> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i1> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a14> <a15>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    (<a15> ^arg-type modifiers ^handle <h6> ^handle { <h7> < <h6> })
+   -{ (<t1> ^{ <a18> <> <a16> <> arg1 } <a19>)
+      (<a19> ^arg-type <a20>)}
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a14> <a15>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    (<a15> ^arg-type modifiers ^handle <h6> ^handle { <h7> < <h6> })
+   -{ (<t1> ^{ <a18> <> <a16> <> arg1 } <a19>)
+      (<a19> ^arg-type <a20>)}
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>
+          ^{ <a7> < <a4> } <a8>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h1> <> <h2> }
+          ^handle <h2>)
+    (<a3> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a5> ^arg-type object ^id <i1>)
+    (<a6> ^arg-type object ^id <i1>)
+   -{ (<c2> ^{ <a9> <> <a1> <> <a4> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<t2> ^{ <a12> <> <a1> <> <a4> <> <a7> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type object ^id <i2>)
+    (<a15> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h2>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h2>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<c2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<t2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^{ <a5> < <a3> } <a6>)
+    (<a2> ^arg-type modifiers ^handle <h1> ^handle { <h2> < <h1> }
+          -^handle { <h3> <> <h1> <> <h2> })
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a1> <> <a3> <> <a5> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a10> ^<a3> <a11> ^<a5> <a12>)
+    (<a10> ^handle <h1> ^handle <h2> ^arg-type modifiers)
+    (<a11> ^id <i1> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask subtask8 -^performed-subtask <p1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4> ^<i2> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i5> ^1 <i4> ^handle <h1> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a8>
+           ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t330-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start2)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start2 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t565-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal4
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t576-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal4 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal4)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t607-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id { <i1> <> <c1> })
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a2> ^subtask-handle subtask3)
+    (<a2> ^2 <i1> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t718-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type coordinate ^coord <c2>)
+    (<c2> -^z <z1> ^y <y1> ^x <x1>)
+    -->
+    (<d1> ^<c1> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^coord <c4> ^arg-type coordinate)
+    (<c4> ^y <y1> ^x <x1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t739-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t16114-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t16123-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t16138-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1goal1)
+    (<t1> ^task-handle go-to-xy1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle goto-xy1goal1)
+    (<i1> ^command-name go-to-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t39402-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t39411-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t39421-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t250395-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> ^name copy-task-operator ^task-operator <t1> ^copy-name <c1>
+          ^destination <d1>)
+   -{ (<t1> ^<a1> <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t285591-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t285600-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t285610-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286045-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal4)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal6
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t286056-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286083-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal6)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal6)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286096-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask5)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286120-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286126-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286135-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286152-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1goal1)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-on1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle activated1
+           ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t286174-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t286174-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286213-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask14)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286237-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286250-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1goal2
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286259-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286276-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1goal2)
+    (<t1> ^task-handle view1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle view1goal2)
+    (<i2> ^1 <i1> ^property-handle is-visible1 ^handle visible1 ^type unary)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286300-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286315-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286324-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286339-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1goal1)
+    (<t1> ^task-handle face1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle face1goal1)
+    (<i1> ^command-name face-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299732-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299741-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299751-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299768-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299777-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299787-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t299809-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t299809-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t299848-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask15)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t326722-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340751-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340760-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t340770-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340800-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340800-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340800-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340800-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340800-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340815-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340815-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340815-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340815-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340815-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-reachable1
+          -^dont-copy is-activated1 -^dont-copy is-visible1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340844-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int7
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340853-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int7 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t340864-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int7 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t341537-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int7)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t341548-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal21 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal21 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 supply1 ^category room1)
+    (<i2> ^default <d2>)
+    (<d2> ^category extinguisher1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t341588-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal21)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal21)
+    (<i1> ^subtask-handle subtask19 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t341608-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category extinguisher1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 supply1 ^category room1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle fetch1 ^item-type task-operator ^name op_fetch12
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask19)
+    (<a1> ^2 <o3> ^handle from1 ^arg-type partial-predicate)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t341616-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t341663-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^2 <i4> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t343037-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a10> > arg2 } <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t343037-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a10> > arg2 } <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> }
+          -^handle { <h5> <> <h3> <> <h4> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t518177-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t518177-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t518216-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask25)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t534012-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t534012-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t534012-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t534012-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t534012-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697053-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697053-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697053-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697053-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697053-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697069-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697069-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697069-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697069-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697069-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697088-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697088-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697088-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697088-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697088-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697099-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s3>
+          ^{ <a9> > arg2 } <a10> ^{ <a11> > arg2 } <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> < <h5> }
+          -^handle { <h7> <> <h5> <> <h6> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697099-2
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s3>
+          ^{ <a9> > arg2 } <a10> ^{ <a11> > arg2 } <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i5> ^object <i2> ^object <i6> ^object <i3> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> < <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> < <h5> }
+          -^handle { <h7> <> <h5> <> <h6> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697099-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s2> ^{ <a5> > arg2 } <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> < <h2> }
+          -^handle { <h4> <> <h2> <> <h3> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697128-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal21)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697137-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int20 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697148-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int20 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697626-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category post1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal29
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t697637-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal29 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal29 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t697664-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal29)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal29)
+    (<i1> ^subtask-handle subtask28 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t697689-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask28)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t697696-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697725-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal29)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697734-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int30 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697745-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int30 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698195-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int34 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t698206-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int34)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int34 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t698383-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int34)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1term36
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698392-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1term36 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t698403-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1term36)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1term36 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t698429-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a8> ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*tried-tied-operator*OpNoChange*t698444-1
+    :chunk
+    (state <s1> ^untried-tied-operator <u1> ^operator <u1> ^problem-space <p1>)
+    (<p1> ^execution-type internal ^name action)
+    (<u1> ^task-handle <t1>)
+    -->
+    (<s1> ^untried-tied-operator <u1> - ^tried-tied-operator <u1>)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*update*current-evaluation-depth*OpNoChange*t698444-2
+    :chunk
+    (state <s1> ^problem-space <p1> ^current-evaluation-depth <c1>
+          ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^current-evaluation-depth <c1> -
+           ^current-evaluation-depth (- <c1> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*increment*plan-length*OpNoChange*t698444-3
+    :chunk
+    (state <s1> ^problem-space <p1> ^plan-length <p2> ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^plan-length <p2> - ^plan-length (+ <p2> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*performed-subtask*OpNoChange*t698444-4
+    :chunk
+    (state <s1> ^operator <o1> ^problem-space <p1> ^current-task-segment <c1>)
+    (<o1> ^item-type task-operator ^subtask-handle <s2> ^task-handle <t1>)
+    (<p1> ^execution-type internal ^name action)
+    -->
+    (<c1> ^performed-subtask <s2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698444-5
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698444-6
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698444-7
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698444-8
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698444-9
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t698456-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+   -{ (<t2> ^{ <a6> <> <a4> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<c2> ^{ <a9> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    (<a12> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698460-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698460-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698460-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <o6>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o5> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698460-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <o6>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o5> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698460-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t698695-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1start39)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1start39 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699002-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1start39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal43
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t699013-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal43 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal43 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal43)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal43)
+    (<i1> ^subtask-handle subtask42 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t699070-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask42)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 emergency1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask42)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699353-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal43)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal47
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t699364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal47 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal47 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category hall1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699393-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal47)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal47)
+    (<i1> ^subtask-handle subtask46 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t699408-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^is-confirmed1 confirmed1 ^category hall1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask46)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t744643-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal47)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal50
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t744654-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal50 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal50 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category alarm1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t744683-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal50)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal50)
+    (<i1> ^subtask-handle subtask49 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t744696-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category alarm1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask49)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793866-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal50)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal56
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t793877-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal56 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal56 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t793915-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal56)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal56)
+    (<i1> ^subtask-handle subtask55 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t793935-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category officer1 ^name co1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg2 <a1>
+           ^arg1 <a2> ^subtask-handle subtask55)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+    (<a2> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t793943-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<i2> -^abstract true)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793973-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle say1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t793982-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t794000-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal2)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^arg1 <a2> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle say1goal2)
+    (<i3> ^2 <i1> ^1 <i2> ^handle heard2 ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t794013-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i2>)
+    (<o1> ^<i2> <i3>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^2 <i3> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i4> ^arg-type object)
+    (<i4> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t794019-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i3>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4>)
+    (<p1> ^<a1> <a2> ^<a3> { <a4> > <a2> } -^<a5> { <a6> <> <a4> <> <a2> })
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i5> ^pred-count 1)
+    (<i5> ^2 <i6> ^1 <i4> ^handle <h1> ^type relation)
+    (<i6> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a3> <a4> ^<a1> <a2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t794026-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t794026-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t794065-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask59)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t925585-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t925585-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p4>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> > <a17> }
+          -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t925624-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask62)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934259-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934297-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934297-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934297-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934297-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934297-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934311-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934311-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934311-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934311-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i4> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i6> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i7> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h2>)
+    (<i5> ^abstract true ^predicates <p1>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i7>)
+    (<a10> ^arg-type object ^id <i6>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i7> ^object <i6>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> > <a14> } ^<a17> <a18>
+          ^<a19> { <a20> > <a18> } ^<a21> <a22> ^<a23> { <a24> > <a22> }
+          -^<a25> { <a26> <> <a24> <> <a22> } ^<a27> <a28>
+          ^<a29> { <a30> > <a28> } -^<a31> { <a32> <> <a30> <> <a28> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934311-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h1>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934549-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal56)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal64
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t934560-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal64 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal64 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934587-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal64)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal64)
+    (<i1> ^subtask-handle subtask63 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t934611-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask63)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t935474-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal64)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal67
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t935485-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal67 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal67 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t935512-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal67)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal67)
+    (<i1> ^subtask-handle subtask66 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t935534-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask66)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1150160-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal67)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1term69
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1150169-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1term69 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1150180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1term69)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1term69 ^item-type terminal-goal)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1150232-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a10> <a18>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a10> > <a1> } <a11>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a3> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a4> <a5> ^<a6> { <a7> > <a5> } -^<a8> { <a9> <> <a7> <> <a5> })
+    (<p1> ^<a4> <a5> ^<a6> <a7>)
+   -{ (<t2> ^{ <a12> <> <a10> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+   -{ (<c2> ^{ <a15> <> <a10> <> <a1> } <a16>)
+      (<a16> ^arg-type <a17>)}
+    (<a11> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a18> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1150235-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1150235-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1150235-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1150235-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1150235-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__WHENEVER__PROP__*problem-space*action*propose*whenever*task*OpNoChange*t1150630-1
+    :chunk
+    (state <s1> ^world <w1> -^child-task-segment <c1> ^problem-space <p1>
+          ^task-operator <t1> ^name <n1>)
+    (<p1> ^subproblem execute ^name action)
+    (<w1> ^objects <o1>)
+    (<t1> ^name <n1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-visible1 visible1 ^category fire1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^whenever-handle whenever72 ^task-handle raise1
+           ^item-type task-operator ^name op_raise138 ^arg1 <a1>)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^category fire-alarm1)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156601-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1start77)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1start77 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156775-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1start77)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal82
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1156786-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal82 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal82 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156811-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal82)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal82)
+    (<i1> ^subtask-handle subtask81 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1156829-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask81)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle ask1 ^item-type task-operator ^name op_ask1
+           ^modifiers <m1> ^arg1 <a1> ^subtask-handle subtask81)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t1156836-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156857-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156870-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1156879-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156894-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1goal1)
+    (<t1> ^task-handle ask1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ask1goal1)
+    (<i1> ^command-name ask-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158176-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1158185-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1158195-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158511-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal82)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal87
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1158522-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal87 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal87 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 relieving1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 answered1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1158560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal87)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal87)
+    (<i1> ^subtask-handle subtask86 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1158586-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask86)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 answered1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 relieving1 ^is-confirmed1 not-confirmed1
+          ^category officer1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask86)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1159009-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal87)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1159018-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1repeat92 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159033-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1repeat92)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1159291-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal94 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal94 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name messhall1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159320-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal94)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal94)
+    (<i1> ^subtask-handle subtask93 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1159344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask93)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303016-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal105)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal105)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303022-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal105)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int102
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303031-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int102 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1303042-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int102 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303057-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int102)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal101
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1303068-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal101 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal101 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303110-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal101)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal101)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1303130-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category plate1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category sink1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle move1 ^item-type task-operator ^name op_move198
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask99)
+    (<a1> ^2 <o3> ^handle in1 ^arg-type partial-predicate)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1303163-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1start108)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1start108 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303576-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1start108)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1goal109
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303585-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1goal109 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303604-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1goal109)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle <h1>)
+    (<a2> ^arg-type partial-predicate ^2 <i2>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle move1goal109)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303671-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303671-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303672-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303672-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1303711-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask111)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304626-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle in1)
+    (<a2> ^arg-type partial-predicate ^2 { <i2> <> <i1> })
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object <i2>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<i2> ^predicates <p3>)
+    (<p3> ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a4> ^arg1 <a5> ^subtask-handle subtask112)
+    (<a4> ^2 <i2> ^handle in1 ^arg-type partial-predicate)
+    (<a5> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1304674-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle put-down1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1304683-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1304701-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal2)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^handle <h1>)
+    (<a2> ^arg-type partial-predicate ^2 <i2>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle put-down1goal2)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1304723-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1304723-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304762-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask113)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305002-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305002-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1305041-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask114)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305711-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305742-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305742-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t2>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305742-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^2 <i5> ^1 <i6> ^handle <h1>)
+    (<i2> ^type relation ^1 <i3> ^2 <i4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i5>)
+    (<a10> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i5> ^object <i6> ^object <i4> ^object <i3>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305742-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h4>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s4> ^task-handle <t4>
+          ^name <n4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^2 <i5> ^1 <i6> ^handle <h1>)
+    (<i2> ^type relation ^1 <i3> ^2 <i4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a9> ^arg-type object ^id <i5>)
+    (<a10> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i5> ^object <i6> ^object <i4> ^object <i3>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n1>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305742-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305757-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305757-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h1>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305757-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h5>
+          ^handle <h6>)
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h4>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h2>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305757-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h5>
+          ^handle <h6>)
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h4>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h2>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305757-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h3>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305790-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1goal109)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1term110
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305799-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1term110 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1305810-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1term110)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1term110 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305838-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305838-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305838-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i5> ^object <i3> ^object <i6> ^object <i4>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305838-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i5> ^object <i3> ^object <i6> ^object <i4>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305838-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305853-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305853-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305853-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg1 <a2>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305853-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg1 <a2>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s4>)
+    (<a1> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a2> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a3> <> arg2 <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2> ^object <i5> ^object <i3>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305853-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305884-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal101)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int100
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305893-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int100 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1305904-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int100)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int100 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1306594-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int120 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1306616-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal118
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1306627-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal118 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal118 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category condiment1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1306656-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal118)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal118)
+    (<i1> ^subtask-handle subtask117 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1306680-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle store1 ^item-type task-operator ^name op_store1116
+           ^arg1 <a1> ^subtask-handle subtask117)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1306711-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1start127 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1307451-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1start127)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle store1goal129
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1307460-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1goal129 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> store1goal129 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category fridge1)
+    (<i2> ^default <d2>)
+    (<d2> ^category fridge1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1307508-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1goal129)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category fridge1)
+    (<o3> ^predicates <p2>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^2 <i2> ^1 <i3> ^pred-count 2 ^handle store1goal129)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+    (<i3> ^1 <o3> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1307520-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h3>)
+    (<i1> ^type relation ^handle <h2> ^2 <i3> ^1 <i5>)
+    (<i2> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i4>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i6> ^<i5> <i7> ^<i4> <i8>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h3> ^2 <i9> ^1 <i10> ^pred-count 2)
+    (<i9> ^2 <i6> ^1 <i7> ^handle <h2> ^type relation)
+    (<i10> ^1 <i8> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308081-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308081-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308083-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308083-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308107-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308107-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308108-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 not-open1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308108-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-open1 ^affordance1 openable1 ^affordance1 receptacle1
+          ^is-open1 not-open1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308147-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 not-open1 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle open1 ^item-type task-operator ^name op_open1
+           ^arg1 <a2> ^subtask-handle subtask132)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1308171-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1308177-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1308186-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1308203-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1goal1)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle open1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle open2 ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308225-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308225-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308264-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask133)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308601-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308601-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308640-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask134)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1309467-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1309476-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1309486-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309516-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309516-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309516-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309516-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309516-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309531-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309531-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309531-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309531-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309531-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1309605-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask135)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1311501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object { <o2> <> <i1> })
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<o2> ^predicates <p3>)
+    (<p3> ^affordance1 openable1 ^affordance1 receptacle1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a2> ^arg1 <a3> ^subtask-handle subtask136)
+    (<a2> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313339-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle close1 ^item-type task-operator ^name op_close1
+           ^arg1 <a2> ^subtask-handle subtask137)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1313363-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313376-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313385-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313402-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1goal1)
+    (<t1> ^task-handle close1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle close1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313537-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313546-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313556-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1goal129)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle store1term128
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1term128 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313593-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1term128)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1term128 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^handle <h1> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313622-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1> ^instance <i9>)
+    (<i9> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h2> ^instance <i10> -^dont-copy <i10>)
+    (<i10> -^3 <i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313622-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1> ^instance <i9>)
+    (<i9> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h2> ^instance <i10> -^dont-copy <i10>)
+    (<i10> -^3 <i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313622-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i3> ^1 <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313637-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313637-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313637-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i7> ^object <i4> ^object <i8> ^object <i5>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+    (<a11> ^arg-type object ^id <i7>)
+   -{ (<t2> ^{ <a14> <> <a12> } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type object ^id <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313637-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a12> <a13>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i7> ^object <i4> ^object <i8> ^object <i5>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+    (<a11> ^arg-type object ^id <i7>)
+   -{ (<t2> ^{ <a14> <> <a12> } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type object ^id <i8>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313637-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^is-open1 open2 ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313652-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313652-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313652-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313652-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313652-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313668-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313668-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313668-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313668-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i6> ^object <i3> ^object <i7>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313668-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-grabbed1
+          -^dont-copy is-confirmed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy is-open1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_open1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313699-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal118)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313708-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int119 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1313719-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int119 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313916-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313937-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^contents1 empty1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal35
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1313948-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal35 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal35 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313975-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal35)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal35)
+    (<i1> ^subtask-handle subtask33 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313995-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-off1 ^item-type task-operator ^name op_turn-off1
+           ^arg1 <a2> ^subtask-handle subtask33)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1314019-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1314025-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1314034-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1314051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1goal1)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-off1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle not-activated1
+           ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314073-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314073-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314112-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask139)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314719-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314719-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314758-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask140)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1317740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1317750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317780-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317780-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317780-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317780-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317780-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317795-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317795-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317795-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317795-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a1>
+          ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317795-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-activated1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317826-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal35)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318165-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal94)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal142
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1318176-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal142 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal142 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category post1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318207-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal142)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal142)
+    (<i1> ^subtask-handle subtask141 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1318231-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^category post1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask141)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1318255-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start123)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start123 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318268-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start123)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal122
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1318279-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal122 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318294-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal122)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int121 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1448045-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int121)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int121 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448080-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int120 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448093-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448162-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448404-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal142)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal146
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1448415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal146 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal146 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name motorpool1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1448444-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal146)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal146)
+    (<i1> ^subtask-handle subtask145 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1448468-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask145)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1618144-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal122)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal124
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1618155-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal124 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal124 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1618180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal124)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal124)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621127-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal124)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int121
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1621591-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal156)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal156)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621604-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal156)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621613-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int153 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1621624-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int153 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int153)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal151
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1621937-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask158)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1622254-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category dispatcher1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask160)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622504-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 lockable1 ^is-confirmed1 confirmed1 ^category vehicle1
+          ^<a2> not-locked1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle lock1 ^item-type task-operator ^name op_lock1
+           ^arg1 <a3> ^subtask-handle subtask162)
+    (<a3> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1622528-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1622534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1622543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1622560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1goal1)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle lock1goal1)
+    (<i2> ^1 <i1> ^property-handle is-locked1 ^handle locked1 ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1622582-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1622582-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622621-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask163)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1623746-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1623746-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1623785-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask164)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626571-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626580-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1626590-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626626-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626626-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626626-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626626-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626626-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626641-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626641-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626641-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626641-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a1> ^subtask-handle <s4>)
+    (<a1> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626641-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-visible1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1626835-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal151)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^3 <i1> ^2 <i2> ^1 <i3> ^pred-count 3 ^handle inspect1goal151)
+    (<i1> ^subtask-handle subtask162 ^type subtask)
+    (<i2> ^subtask-handle subtask160 ^type subtask)
+    (<i3> ^subtask-handle subtask158 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626848-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal151)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626857-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int152 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1626868-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int152 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1627128-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^3 <i4> ^2 <i5> ^1 <i6>
+           ^pred-count 3)
+    (<i4> ^subtask-handle <s4> ^type subtask)
+    (<i5> ^subtask-handle <s3> ^type subtask)
+    (<i6> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627129-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627129-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627129-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s6> ^subtask-handle <s7> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627129-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s6> ^subtask-handle <s7> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627129-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627147-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s6> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627147-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s6> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627147-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627147-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627147-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s3> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627163-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627163-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627163-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627163-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s5>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+    (<a4> ^arg-type concept ^handle <h3>)
+    (<a6> ^arg-type object ^id <o4>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type concept ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627163-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1633285-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal146)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal166
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1633296-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal166 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal166 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^possessive cos1 ^category office1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1633327-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal166)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal166)
+    (<i1> ^subtask-handle subtask165 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1633349-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^possessive cos1 ^is-confirmed1 confirmed1 ^category office1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask165)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754621-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal166)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1repeat92)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 confirmed1 ^category officer1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle guard1exit91
+           ^next-goal-type loop-exit ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754651-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1exit91 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1754666-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1exit91)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1exit91)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754843-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1exit91)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1term168
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754852-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1term168 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1754863-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1term168)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1term168 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t1754935-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<p1> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a3> <a14> ^<a1> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a10> <a11> ^<a8> <a9>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1754940-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a10> <a18>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a10> > <a1> } <a11>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a3> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a4> <a5> ^<a6> { <a7> > <a5> } -^<a8> { <a9> <> <a7> <> <a5> })
+    (<p1> ^<a4> <a5> ^<a6> <a7>)
+   -{ (<t2> ^{ <a12> <> <a10> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+   -{ (<c2> ^{ <a15> <> <a10> <> <a1> } <a16>)
+      (<a16> ^arg-type <a17>)}
+    (<a11> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a18> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1754944-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<s2> ^name <n1>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1754944-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<s2> ^name <n1>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<s5> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1754944-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type modifiers ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1754944-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^<a5> <a6> ^{ <a7> > <a5> } <a8>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a4> ^arg-type modifiers ^handle <h3>)
+    (<a6> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a9> <> <a7> <> <a5> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    (<p2> ^<a12> <a13> ^<a14> { <a15> > <a13> } ^<a16> <a17>
+          ^<a18> { <a19> > <a17> } -^<a20> { <a21> <> <a19> <> <a17> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1754944-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> }
+          -^<a12> { <a13> <> <a11> <> <a9> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
diff --git a/examples/kitchen-study/full-training-chunks.soar b/examples/kitchen-study/full-training-chunks.soar
new file mode 100644
index 0000000000..2f6f5e7082
--- /dev/null
+++ b/examples/kitchen-study/full-training-chunks.soar
@@ -0,0 +1,14348 @@
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1754944-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1754944-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type modifiers ^handle <h5>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1754944-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<a2> ^arg-type modifiers ^handle <h3> -^handle { <h4> <> <h3> })
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type modifiers ^handle <h5>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1754944-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<s2> ^name <n2>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1754944-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<s2> ^name <n2>)
+    (<a2> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1754940-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a3> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a12> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> })
+    (<p2> ^<a13> <a14> -^<a17> { <a18> <> <a14> <> <a16> } ^<a15> <a16>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t1754935-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1754863-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1term168)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1term168 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754852-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1term168 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754843-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1exit91)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1term168
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1754666-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1exit91)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1exit91)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1754651-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1exit91 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 confirmed1 ^category officer1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle guard1exit91
+           ^next-goal-type loop-exit ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1754621-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal166)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1633349-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^possessive cos1 ^is-confirmed1 confirmed1 ^category office1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask165)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1633327-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal166)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal166)
+    (<i1> ^subtask-handle subtask165 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1633296-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal166 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal166 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^possessive cos1 ^category office1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1633285-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal146)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal166
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627163-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627163-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s6>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627163-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<i4> ^type subtask ^subtask-handle <s6>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627163-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627163-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s6>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627147-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s3> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627147-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s4>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s3> ^subtask-handle <s4> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627147-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s5>)
+    (<i2> ^type subtask ^subtask-handle <s7>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s4>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s3> ^subtask-handle <s4> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627147-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s6> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627147-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s6> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s7>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s6> ^subtask-handle <s5> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s6> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1627129-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1627129-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s7>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1627129-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^3 <i2> ^2 <i3> ^2 <i4>
+          ^1 <i5> ^1 <i6> ^handle <h1> ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s3>)
+    (<i4> ^type subtask ^subtask-handle <s7>)
+    (<i5> ^type subtask ^subtask-handle <s2>)
+    (<i6> ^type subtask ^subtask-handle <s6>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s4> ^subtask-handle <s5> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2> ^<a6> <a7>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    (<a7> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1627129-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1627129-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s7> ^superoperator <s8>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s6>)
+    (<i2> ^type subtask ^subtask-handle <s5>)
+    (<i3> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s7> ^subtask-handle <s6> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+   -{ (<s7> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1627128-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 3 ^3 <i1> ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<i3> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^3 <i4> ^2 <i5> ^1 <i6>
+           ^pred-count 3)
+    (<i4> ^subtask-handle <s4> ^type subtask)
+    (<i5> ^subtask-handle <s3> ^type subtask)
+    (<i6> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1626868-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int152)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int152 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626857-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int152 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626848-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal151)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int152
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1626835-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal151)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^3 <i1> ^2 <i2> ^1 <i3> ^pred-count 3 ^handle inspect1goal151)
+    (<i1> ^subtask-handle subtask162 ^type subtask)
+    (<i2> ^subtask-handle subtask160 ^type subtask)
+    (<i3> ^subtask-handle subtask158 ^type subtask)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626641-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626641-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626641-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle lock1 ^name op_lock1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a11> not-locked1 -^dont-copy <a11> ^<a12> not-locked1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626641-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626641-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle lock1 ^name op_lock1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1626626-5
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1626626-4
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1626626-3
+    :chunk
+    (state <s1> ^name op_lock1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a10> not-locked1 -^dont-copy <a10> ^<a12> not-locked1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a11> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a11> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1626626-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1626626-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1626590-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1626580-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1626571-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1623785-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask164)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1623746-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1623746-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622621-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask163)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1622582-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1622582-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_lock1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1
+          ^<a9> not-locked1 -^dont-copy <a9>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1622560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1goal1)
+    (<t1> ^task-handle lock1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle lock1goal1)
+    (<i2> ^1 <i1> ^property-handle is-locked1 ^handle locked1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1622543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle lock1)
+    (<o1> ^next-goal-handle lock1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1622534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle lock1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle lock1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1622528-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle lock1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle lock1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1622504-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 lockable1 ^is-confirmed1 confirmed1 ^category vehicle1
+          ^<a2> not-locked1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle lock1 ^item-type task-operator ^name op_lock1
+           ^arg1 <a3> ^subtask-handle subtask162)
+    (<a3> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1622254-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category dispatcher1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask160)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1621937-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask158)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+#sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621651-1
+#    :chunk
+#    (state <s1> ^task-operator <t1> ^operator <o1>)
+#    (<t1> ^task-handle inspect1)
+#    (<o1> ^next-goal-handle inspect1goal151 ^name select-next-goal)
+#    -->
+#    (<s1> ^apply-select-next-goal true)
+#}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621642-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal151
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1621624-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int153)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int153 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1621613-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int153 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621604-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal156)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int153
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1621591-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal156)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal156)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1621127-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal124)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int121
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1618180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal124)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal124)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1618155-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal124 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal124 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1618144-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal124
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1448468-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name motorpool1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask145)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1448444-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal146)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal146)
+    (<i1> ^subtask-handle subtask145 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1448415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal146 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal146 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name motorpool1 ^category room1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448404-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal142)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal146
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448162-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int30)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1448093-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int120)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448080-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int120 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1448045-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int121)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int121 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1448035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int121 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318294-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal122)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal122)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1318279-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal122 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318268-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start123)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal122
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1318255-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start123)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start123 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1318231-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^category post1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask141)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1318207-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal142)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal142)
+    (<i1> ^subtask-handle subtask141 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1318176-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal142 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal142 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category post1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1318165-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal94)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal142
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317826-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal35)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int34
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317795-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317795-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317795-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317795-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317795-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-off1 ^name op_turn-off1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1317780-5
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1317780-4
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1317780-3
+    :chunk
+    (state <s1> ^name op_turn-off1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1317780-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1317780-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1317750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1317740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1317731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314758-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask140)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314719-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314719-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1314112-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask139)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1314073-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1314073-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-off1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-activated1 activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1314051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1goal1)
+    (<t1> ^task-handle turn-off1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-off1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle not-activated1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1314034-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-off1)
+    (<o1> ^next-goal-handle turn-off1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1314025-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-off1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-off1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1314019-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-off1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-off1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313995-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-off1 ^item-type task-operator ^name op_turn-off1
+           ^arg1 <a2> ^subtask-handle subtask33)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313975-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal35)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal35)
+    (<i1> ^subtask-handle subtask33 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1313948-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal35 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal35 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313937-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^contents1 empty1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal35
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313916-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int20)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1313719-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int119)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int119 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313708-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int119 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313699-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal118)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int119
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313668-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_open1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313668-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313668-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_open1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i6>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313668-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313668-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_open1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313652-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313652-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313652-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i4> ^1 <i5> ^1 <i8>
+          ^handle <h1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle store1 ^arg1 <a4> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle store1 ^arg1 <a5> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i6>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i7>)
+    (<i5> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i6>)
+    (<i6> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<i7> ^predicates <p2>)
+    (<i8> ^property-handle is-open1 ^handle not-open1 ^1 <i7> ^type unary)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i6> ^object <i2> ^object <i7> ^object <i3>)
+    (<r1> ^arm <a11>)
+    (<a11> ^holding-object false)
+    (<r2> ^arm <a12>)
+    (<a12> ^holding-object false)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313652-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313652-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle store1 ^arg1 <a8> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator })
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313637-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h2>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<i1> ^type relation ^2 <i3> ^handle <h1> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313637-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s4> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i7> ^object <i5> ^object <i8>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+   -{ (<t1> ^{ <a12> <> <a10> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type object ^id <i7>)
+    (<a16> ^arg-type object ^id <i8>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313637-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h3> ^handle <h4>)
+    (<t1> ^task-handle store1 ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<t2> ^task-handle store1 ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<i1> ^type relation ^2 <i4> ^handle <h1> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h2> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s4> ^task-handle <t3>
+          ^task-handle <t4>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h1>)
+    (<a5> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a6> ^arg-type object ^id <i7>)
+    (<a7> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i7> ^object <i5> ^object <i8>)
+    (<r1> ^arm <a8>)
+    (<a8> ^holding-object true)
+    (<r2> ^arm <a9>)
+    (<a9> ^holding-object true)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h1>)
+    (<p5> ^handle <h2>)
+   -{ (<t1> ^{ <a12> <> <a10> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type object ^id <i7>)
+    (<a16> ^arg-type object ^id <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313637-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313637-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy category -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle store1 ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type object ^id <i2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1313622-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h1>)
+    (<i1> ^type relation ^2 <i3> ^handle <h2> ^1 <i4>)
+    (<i2> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i3>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i3> ^1 <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1313622-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i4> ^handle <h2> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h4> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h2> ^instance <i9> -^dont-copy <i9>)
+    (<i9> -^3 <i10> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h4> ^instance <i11>)
+    (<i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1313622-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^2 <i2> ^1 <i3> ^1 <i6>
+          ^handle <h1> ^handle <h3>)
+    (<i1> ^type relation ^2 <i4> ^handle <h2> ^1 <i7>)
+    (<i2> ^type relation ^2 <i5> ^handle <h4> ^1 <i8>)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p1>)
+    (<p1> -^dont-copy is-open1 ^is-open1 open2)
+    (<i5> ^predicates <p1>)
+    (<i6> ^property-handle is-open1 ^handle not-open1 ^1 <i5> ^type unary)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_close1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i4>)
+    (<a5> ^arg-type object ^id <i5>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i4> ^object <i5> ^object <i7> ^object <i8>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle <h2> ^instance <i9> -^dont-copy <i9>)
+    (<i9> -^3 <i10> ^2 <i4> ^1 <i7>)
+    (<p5> ^handle <h4> ^instance <i11>)
+    (<i11> ^2 <i5> ^1 <i8>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1313622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1313622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_close1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313593-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1term128)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1term128 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1term128 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle store1goal129)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle store1term128
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1313556-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313546-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313537-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1313402-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1goal1)
+    (<t1> ^task-handle close1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle close1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1313385-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle close1)
+    (<o1> ^next-goal-handle close1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1313376-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle close1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle close1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1313363-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle close1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle close1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1313339-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 open2 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle close1 ^item-type task-operator ^name op_close1
+           ^arg1 <a2> ^subtask-handle subtask137)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1311501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object { <o2> <> <i1> })
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<o2> ^predicates <p3>)
+    (<p3> ^affordance1 openable1 ^affordance1 receptacle1 ^is-open1 open2
+          ^is-confirmed1 confirmed1 ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a2> ^arg1 <a3> ^subtask-handle subtask136)
+    (<a2> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1309605-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask135)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309531-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309531-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309531-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a4> ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle open1 ^name op_open1 ^arg1 <a5> ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309531-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309531-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle open1 ^name op_open1 ^arg1 <a8> ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1309516-5
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1309516-4
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1309516-3
+    :chunk
+    (state <s1> ^name op_open1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1309516-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1309516-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1309486-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1309476-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1309467-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308640-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask134)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308601-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308601-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308264-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask133)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308225-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308225-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_open1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1308203-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1goal1)
+    (<t1> ^task-handle open1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle open1goal1)
+    (<i2> ^1 <i1> ^property-handle is-open1 ^handle open2 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1308186-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle open1)
+    (<o1> ^next-goal-handle open1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1308177-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle open1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle open1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1308171-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle open1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle open1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1308147-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle store1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 openable1 ^is-open1 not-open1 ^is-confirmed1 confirmed1
+          ^category fridge1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle open1 ^item-type task-operator ^name op_open1
+           ^arg1 <a2> ^subtask-handle subtask132)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308108-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308108-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_open1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 not-open1
+          ^is-confirmed1 confirmed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 confirmed1)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308107-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308107-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_close1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 ^is-open1 open2)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^1 <i2> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h2> ^instance <i5> -^dont-copy <i5>)
+    (<i5> -^3 <i6> ^2 <i2> ^1 <i4>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308083-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308083-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i3> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^property-handle is-open1 ^handle not-open1 ^type unary ^1 <i4>)
+    (<i4> ^predicates <p3>)
+    (<p3> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1
+          ^affordance1 receptacle1 ^is-open1 open2 ^is-confirmed1 confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i4> ^object <i2>)
+    (<r1> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1308081-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1308081-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i4> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-open1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 openable1 ^is-open1 open2
+          ^is-confirmed1 confirmed1)
+    (<i4> ^property-handle is-open1 ^handle not-open1 ^1 <i3> ^type unary)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<r1> ^arm <a6>)
+    (<a6> ^holding-object true)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t1307520-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 2 ^2 <i1> ^1 <i2> ^handle <h1>)
+    (<i1> ^type relation ^handle <h3> ^2 <i3> ^1 <i5>)
+    (<i2> ^type unary ^property-handle <p1> ^handle <h2> ^1 <i4>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i4> <i6> ^<i5> <i7> ^<i3> <i8>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^2 <i9> ^1 <i10> ^pred-count 2)
+    (<i9> ^2 <i8> ^1 <i7> ^handle <h3> ^type relation)
+    (<i10> ^1 <i6> ^property-handle <p1> ^handle <h2> ^type unary)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1307508-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1goal129)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category fridge1)
+    (<o3> ^predicates <p2>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^2 <i2> ^1 <i3> ^pred-count 2 ^handle store1goal129)
+    (<i2> ^2 <o3> ^1 <i1> ^handle in1 ^type relation)
+    (<i3> ^1 <o2> ^property-handle is-open1 ^handle not-open1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1307460-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle store1)
+    (<o1> ^next-goal-handle store1goal129 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> store1goal129 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category fridge1)
+    (<i2> ^default <d2>)
+    (<d2> ^category fridge1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1307451-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle store1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle store1goal129
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1306711-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle store1start127)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle store1start127 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1306680-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category condiment1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle store1 ^item-type task-operator ^name op_store1116
+           ^arg1 <a1> ^subtask-handle subtask117)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1306656-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal118)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal118)
+    (<i1> ^subtask-handle subtask117 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1306627-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal118 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal118 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category condiment1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1306616-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category condiment1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal118
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1306594-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int120)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int120 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1305904-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int100)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int100 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305893-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int100 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305884-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal101)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int100
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305853-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<p3> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305853-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305853-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p3>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h1>
+          ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle move1 ^arg2 <a4> ^arg1 <a5>
+          ^name { <n1> <> evaluate-operator } ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^handle in1 ^2 <i4>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle move1 ^arg2 <a6> ^arg1 <a7>
+          ^name { <n2> <> evaluate-operator } ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^handle in1 ^2 <i5>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i4>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^handle in1 ^2 <i5> ^1 <i3> ^type relation)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305853-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305853-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle move1 ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator })
+    (<a8> ^arg-type partial-predicate ^handle in1 ^2 <i3>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305838-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305838-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i5> ^object <i4> ^object <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305838-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+    (<i1> ^type relation ^handle <h1> ^1 <i3> ^2 <i5>)
+    (<i2> ^type relation ^handle <h2> ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg2 <a4> ^arg2 <a5> ^arg1 <a6> ^arg1 <a7>
+          ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i5>)
+    (<a5> ^arg-type partial-predicate ^handle <h2> ^2 <i6>)
+    (<a6> ^arg-type object ^id <i3>)
+    (<a7> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i5> ^object <i4> ^object <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle <h1>)
+    (<p4> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305838-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305838-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1305810-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1term110)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1term110 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1305799-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1term110 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305790-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1goal109)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1term110
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305757-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305757-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h4>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305757-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i6> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a6> ^arg1 <a7>
+          ^subtask-handle <s5>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<i1> ^type relation ^1 <i2> ^2 <i4> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<i5> ^predicates <p2>)
+    (<i6> ^2 <i5> ^1 <i3> ^type relation ^handle <h4>)
+   -{ (<o1> ^{ <a8> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<o1> ^name op_view1 ^arg1 <a11> ^arg1 <a12> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<a12> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4> ^object <i3> ^object <i5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305757-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305757-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle put-down1 ^name op_put-down1 ^arg2 <a8> ^arg1 <a9>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1305742-5
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1305742-4
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h4>)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<a10> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3> ^object <i6> ^object <i5>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1305742-3
+    :chunk
+    (state <s1> ^name op_put-down1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h5>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i3> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<i4> ^type relation ^2 <i5> ^1 <i6> ^handle <h4>)
+    (<i5> ^predicates <p2>)
+    (<i6> ^predicates <p1>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_approach1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<a10> ^arg-type object ^id <i5>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3> ^object <i6> ^object <i5>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i5> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305742-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305742-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1305711-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1305041-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask114)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1305002-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1305002-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304762-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask113)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1304723-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1304723-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_put-down1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^2 <i2> ^1 <i3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-reachable1
+          ^is-reachable1 not-reachable1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i3> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1304701-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal2)
+    (<t1> ^task-handle put-down1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type partial-predicate ^handle <h1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle put-down1goal2)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1304683-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1304674-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle put-down1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1304626-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 { <i2> <> <i1> })
+    (<a2> ^arg-type partial-predicate ^handle in1)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1> ^object <i2>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    (<i2> ^predicates <p3>)
+    (<p3> ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg2 <a4> ^arg1 <a5> ^subtask-handle subtask112)
+    (<a4> ^2 <i2> ^handle in1 ^arg-type partial-predicate)
+    (<a5> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t1303711-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle move1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask111)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303672-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303672-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy affordance1
+          ^affordance1 always-open1 ^affordance1 receptacle1
+          ^is-confirmed1 confirmed1)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1303671-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1303671-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg2 <a4> ^arg1 <a5>
+          ^task-handle <t1>)
+   -{ (<s2> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle <h1>)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303604-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1goal109)
+    (<t1> ^task-handle move1 ^arg2 <a1> ^arg2 <a2> ^arg1 <a3> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type partial-predicate ^handle <h1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle move1goal109)
+    (<i3> ^2 <i2> ^1 <i1> ^handle <h1> ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303585-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle move1)
+    (<o1> ^next-goal-handle move1goal109 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303576-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle move1start108)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle move1goal109
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1303163-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle move1start108)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle move1start108 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1303130-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sink1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category plate1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle move1 ^item-type task-operator ^name op_move198
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask99)
+    (<a1> ^2 <o2> ^handle in1 ^arg-type partial-predicate)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303110-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal101)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal101)
+    (<i1> ^subtask-handle subtask99 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1303068-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal101 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal101 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sink1)
+    (<i2> ^default <d2>)
+    (<d2> ^category plate1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303057-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<w1> ^robot <r1> ^objects <o1> ^predicates <p3>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    (<o1> ^object <c4> ^object <i2> ^object <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle on1 ^instance <i1>)
+    (<i1> ^2 <i2> ^1 <i3>)
+    (<i2> ^predicates <p5>)
+    (<p5> ^category table1)
+    (<i3> ^predicates <p6>)
+    (<p6> ^category plate1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal101
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t1303042-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int102)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int102 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1303031-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int102 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1303022-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal105)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int102
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1303016-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal105)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal105)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1159344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category room1 ^name messhall1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle inspect1 ^item-type task-operator ^name op_inspect11
+           ^arg1 <a1> ^subtask-handle subtask93)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159320-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal94)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal94)
+    (<i1> ^subtask-handle subtask93 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1159291-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal94 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal94 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name messhall1 ^category room1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1159033-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1repeat92)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^pred-count 0 ^handle guard1repeat92)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1159018-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1repeat92 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1159009-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal87)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1repeat92
+           ^next-goal-type repeat-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1158586-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask86)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 relieving1 ^is-confirmed1 not-confirmed1
+          ^category officer1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 answered1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask86)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1158560-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal87)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal87)
+    (<i1> ^subtask-handle subtask86 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t1158522-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal87 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal87 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 relieving1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 answered1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158511-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1goal82)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal87
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1158195-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1158185-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1158176-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156894-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1goal1)
+    (<t1> ^task-handle ask1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ask1goal1)
+    (<i1> ^command-name ask-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1156879-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ask1)
+    (<o1> ^next-goal-handle ask1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156870-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ask1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ask1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156857-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ask1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ask1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t1156836-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t1156829-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask81)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle ask1 ^item-type task-operator ^name op_ask1
+           ^modifiers <m1> ^arg1 <a1> ^subtask-handle subtask81)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t1156811-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1goal82)
+    (<t1> ^task-handle guard1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle guard1goal82)
+    (<i1> ^subtask-handle subtask81 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t1156786-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle guard1)
+    (<o1> ^next-goal-handle guard1goal82 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> guard1goal82 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |who is my relieving officer?| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1156775-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle guard1start77)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle guard1goal82
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t1156601-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle guard1start77)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle guard1start77 ^item-type start-goal)
+}
+
+sp {chunkx2*__WHENEVER__PROP__*problem-space*action*propose*whenever*task*OpNoChange*t1150630-1
+    :chunk
+    (state <s1> ^world <w1> -^child-task-segment <c1> ^problem-space <p1>
+          ^task-operator <t1> ^name <n1>)
+    (<p1> ^subproblem execute ^name action)
+    (<w1> ^objects <o1>)
+    (<t1> ^name <n1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-visible1 visible1 ^category fire1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^whenever-handle whenever72 ^task-handle raise1
+           ^item-type task-operator ^name op_raise138 ^arg1 <a1>)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^category fire-alarm1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t1150235-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t1150235-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t1150235-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    (<a11> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a12> <a13> ^<a14> { <a15> < <a13> }
+          -^<a16> { <a17> <> <a13> <> <a15> } ^<a18> <a19>
+          ^<a20> { <a21> < <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t1150235-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t1150235-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t1150232-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a3> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<a12> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> })
+    (<p2> ^<a13> <a14> -^<a17> { <a18> <> <a14> <> <a16> } ^<a15> <a16>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t1150180-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1term69)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1term69 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t1150169-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1term69 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t1150160-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal67)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1term69
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t935534-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask66)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t935512-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal67)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal67)
+    (<i1> ^subtask-handle subtask66 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t935485-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal67 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal67 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t935474-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal64)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal67
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t934611-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask63)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934587-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal64)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal64)
+    (<i1> ^subtask-handle subtask63 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t934560-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal64 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal64 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934549-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal56)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal64
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934311-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934311-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934311-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_find1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934311-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934311-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t934297-5
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^handle <h1>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p3> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4>)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t934297-4
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t934297-3
+    :chunk
+    (state <s1> ^name op_say1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p3> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i2> ^1 <i5> ^handle <h1>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg2 <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg2 <a4> ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t3>
+          ^name <n2>)
+    (<a4> ^arg-type partial-predicate ^2 <i4> ^handle <h3>)
+    (<a5> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<i2> ^type relation ^2 <i3> ^1 <i4> ^handle <h2>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<i4> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i5> ^type relation ^2 <i6> ^1 <i7> ^handle <h5>)
+    (<i6> ^abstract true ^predicates <p1>)
+    (<i7> ^predicates <p2>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<a10> ^arg-type object ^id <i7>)
+    (<p3> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i7>)
+    (<t5> ^arg2 <a11> ^arg1 <a12> ^subtask-handle <s5> ^task-handle <t6>
+          ^name <n4>)
+    (<a11> ^arg-type partial-predicate ^2 <i7> ^handle <h6>)
+    (<a12> ^arg-type object ^id <i8>)
+    (<i8> ^abstract true ^predicates <p1>)
+    (<p1> ^<a13> <a14> ^<a15> { <a16> < <a14> }
+          -^<a17> { <a18> <> <a14> <> <a16> } ^<a19> <a20>
+          ^<a21> { <a22> < <a20> } -^<a23> { <a24> <> <a20> <> <a22> }
+          ^<a25> <a26> ^<a27> { <a28> < <a26> } ^<a29> <a30>
+          ^<a31> { <a32> < <a30> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t934297-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t934297-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> } ^<a16> <a17>
+          ^<a18> { <a19> < <a17> } -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t934259-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t925624-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask62)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t925585-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t925585-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t794065-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask59)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t794026-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t794026-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_say1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^1 <i2> ^2 <i3> ^handle <h2>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 ^is-visible1 not-visible1)
+    (<i3> ^abstract true ^predicates <p3>)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg2 <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg2 <a8> ^arg1 <a9> ^subtask-handle <s7> ^task-handle <t3>
+          ^name <n2>)
+    (<a8> ^arg-type partial-predicate ^2 <i2> ^handle <h3>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    (<p3> ^<a10> <a11> ^<a12> { <a13> < <a11> }
+          -^<a14> { <a15> <> <a11> <> <a13> })
+    (<p4> ^<a16> <a17> ^<a18> { <a19> < <a17> }
+          -^<a20> { <a21> <> <a17> <> <a19> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t794019-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type relation ^2 <i2> ^handle <h2> ^1 <i3>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i3> <i4>)
+    (<p1> ^<a1> <a2> ^<a3> { <a4> < <a2> } -^<a5> { <a6> <> <a2> <> <a4> })
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i5> ^pred-count 1)
+    (<i5> ^2 <i6> ^1 <i4> ^handle <h2> ^type relation)
+    (<i6> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a1> <a2> ^<a3> <a4>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t794013-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i4> ^arg-type object)
+    (<i4> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t794000-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal2)
+    (<t1> ^task-handle say1 ^arg2 <a1> ^arg1 <a2> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i2>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i3> ^pred-count 1 ^handle say1goal2)
+    (<i3> ^2 <i1> ^1 <i2> ^handle heard2 ^type relation)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t793982-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793973-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle say1 ^name <n1> ^arg2 <a1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal2
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t793943-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p1> ^<a8> <a9> ^<a10> { <a11> < <a9> }
+          -^<a12> { <a13> <> <a9> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a14> ^<a3> <a15>)
+    (<a14> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+    (<a15> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a10> <a11>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t793935-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category officer1 ^name co1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg2 <a1>
+           ^arg1 <a2> ^subtask-handle subtask55)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+    (<a2> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p3> ^abstract true)
+    (<p3> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t793915-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal56)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal56)
+    (<i1> ^subtask-handle subtask55 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t793877-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal56 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal56 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+    (<i2> ^default <d2>)
+    (<d2> ^sentence |there is a fire.| ^category message)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t793866-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal50)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal56
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t744696-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category alarm1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask49)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t744683-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal50)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal50)
+    (<i1> ^subtask-handle subtask49 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t744654-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal50 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal50 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category alarm1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t744643-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal47)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal50
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t699408-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^cardinal-direction1 east1 ^is-confirmed1 confirmed1 ^category hall1
+          ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask46)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699393-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal47)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal47)
+    (<i1> ^subtask-handle subtask46 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t699364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal47 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal47 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category hall1 ^cardinal-direction1 east1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699353-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1goal43)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal47
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t699070-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask42)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 emergency1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask42)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o2> ^arg-type object)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t699051-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1goal43)
+    (<t1> ^task-handle raise1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle raise1goal43)
+    (<i1> ^subtask-handle subtask42 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t699013-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle raise1)
+    (<o1> ^next-goal-handle raise1goal43 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> raise1goal43 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 emergency1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t699002-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle raise1start39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle raise1goal43
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t698695-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle raise1start39)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle raise1start39 ^item-type start-goal)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698460-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698460-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type partial-predicate ^2 <o6> ^handle <h4>)
+    (<a11> ^arg-type object ^id <o5>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698460-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type partial-predicate ^2 <o6> ^handle <h4>)
+    (<a11> ^arg-type object ^id <o5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698460-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698460-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o4> ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t698456-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a12>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> < <a1> } <a5>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a3> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+   -{ (<c2> ^{ <a6> <> <a1> <> <a4> } <a7>)
+      (<a7> ^arg-type <a8>)}
+   -{ (<t2> ^{ <a9> <> <a1> <> <a4> } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a5> ^arg-type object ^id <i2>)
+    (<a12> ^arg-type object ^id <i2>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t698444-9
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t698444-8
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t698444-7
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n2> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n3> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4> ^<a8> <a9> ^{ <a10> < <a8> } <a11>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type concept ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    (<a9> ^arg-type concept ^handle <h4>)
+    (<a11> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t698444-6
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t698444-5
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n2>)
+    (<o2> ^object <o3>)
+    (<a2> ^arg-type concept ^handle <h2>)
+   -{ (<s5> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*performed-subtask*OpNoChange*t698444-4
+    :chunk
+    (state <s1> ^operator <o1> ^problem-space <p1> ^current-task-segment <c1>)
+    (<o1> ^item-type task-operator ^subtask-handle <s2> ^task-handle <t1>)
+    (<p1> ^execution-type internal ^name action)
+    -->
+    (<c1> ^performed-subtask <s2>)
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*increment*plan-length*OpNoChange*t698444-3
+    :chunk
+    (state <s1> ^problem-space <p1> ^plan-length <p2> ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^plan-length <p2> - ^plan-length (+ <p2> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*update*current-evaluation-depth*OpNoChange*t698444-2
+    :chunk
+    (state <s1> ^problem-space <p1> ^current-evaluation-depth <c1>
+          ^operator <o1>)
+    (<p1> ^execution-type internal ^name action)
+    (<o1> ^task-handle <t1>)
+    -->
+    (<s1> ^current-evaluation-depth <c1> -
+           ^current-evaluation-depth (- <c1> 1))
+}
+
+sp {chunk*execution-type*internal*apply*task-operator*mark*tried-tied-operator*OpNoChange*t698444-1
+    :chunk
+    (state <s1> ^untried-tied-operator <u1> ^operator <u1> ^problem-space <p1>)
+    (<p1> ^execution-type internal ^name action)
+    (<u1> ^task-handle <t1>)
+    -->
+    (<s1> ^untried-tied-operator <u1> - ^tried-tied-operator <u1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t698429-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t698403-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1term36)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1term36 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698392-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1term36 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t698383-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1int34)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1term36
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t698206-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int34)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int34 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t698195-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int34 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697745-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int30)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int30 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697734-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int30 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697725-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal29)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int30
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t697696-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type concept ^handle <h1>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t697689-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle ensure1 ^item-type task-operator ^name op_ensure115
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask28)
+    (<a1> ^handle confirmed1 ^arg-type concept)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t697664-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal29)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal29)
+    (<i1> ^subtask-handle subtask28 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t697637-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal29 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal29 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697626-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c4>)
+    (<c4> ^predicates <p2>)
+    (<p2> ^category post1)
+    (<o1> ^object <c4>)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle inspect1goal29
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t697148-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int20)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int20 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t697137-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int20 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t697128-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal21)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int20
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697099-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s2> ^{ <a5> > arg2 } <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697099-2
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s4>
+          ^{ <a9> > arg2 } <a10> ^{ <a19> > arg2 } <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> > <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697099-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a14> <a15>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a21> <a22>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s2> ^subtask-handle <s4>
+          ^{ <a9> > arg2 } <a10> ^{ <a19> > arg2 } <a20>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<o1> ^{ <a11> <> <a9> <> arg2 <> arg1 } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+   -{ (<t1> ^{ <a16> <> <a14> <> arg1 } <a17>)
+      (<a17> ^arg-type <a18>)}
+    (<a15> ^arg-type partial-predicate ^2 <o3> ^handle <h6>)
+    (<a20> ^arg-type modifiers ^handle <h7> ^handle { <h8> > <h7> })
+    (<a22> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697088-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697088-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697088-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a15> <a16>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    (<a16> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697088-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697088-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697069-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697069-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697069-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+    (<a14> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697069-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697069-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy category -^dont-copy is-confirmed1 -^dont-copy modifier1
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t697053-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s2>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t697053-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t697053-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h3>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^subtask-handle <s3> ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle fetch1 ^arg1 <a2> ^name { <n2> <> evaluate-operator }
+          ^subtask-handle <s5> ^<a13> <a14>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h2>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h4>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a10> <> <a8> <> arg1 } <a11>)
+      (<a11> ^arg-type <a12>)}
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    (<a14> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t697053-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t697053-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a5> ^subtask-handle <s6>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s8> ^name <n1>)
+    (<s4> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t534012-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t534012-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t534012-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t534012-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t534012-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t518216-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask25)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t518177-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t518177-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-grabbed1
+          -^dont-copy is-reachable1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle pick-up1 ^name op_pick-up1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t343037-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a5> > arg2 } <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t343037-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^{ <a5> > arg2 } <a6>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a3> ^subtask-handle <s6>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy is-grabbed1 -^dont-copy is-confirmed1
+          -^dont-copy category -^dont-copy affordance1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1
+          ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<s2> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t341663-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i4> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t341616-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> < <a1> } <a4>)
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+   -{ (<t1> ^{ <a5> <> <a1> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a8> ^<a3> <a9>)
+    (<a8> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t341608-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 supply1 ^category room1)
+    (<o3> ^predicates <p3>)
+    (<p3> ^category extinguisher1)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle fetch1 ^item-type task-operator ^name op_fetch12
+           ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask19)
+    (<a1> ^2 <o2> ^handle from1 ^arg-type partial-predicate)
+    (<a2> ^id <o3> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t341588-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal21)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal21)
+    (<i1> ^subtask-handle subtask19 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t341548-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal21 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal21 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 supply1 ^category room1)
+    (<i2> ^default <d2>)
+    (<d2> ^category extinguisher1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t341537-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<w1> ^objects <o1> ^robot <r1>)
+   -{ (<o1> ^object <o2>)
+      (<o2> ^predicates <p2>)
+      (<p2> ^is-confirmed1 confirmed1 ^category extinguisher1)}
+    (<r1> ^current-location <c4>)
+    (<o1> ^object <c4>)
+    (<c4> ^predicates <p3>)
+    (<p3> ^category post1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal21
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_I_GOAL_*task*elaborate*desired*intermediate-goal*OpNoChange*t340864-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1int7)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1int7 ^item-type intermediate-goal ^pred-count 0)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340853-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1int7 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340844-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1int7
+           ^next-goal-type intermediate-goal ^has-conditions false)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340815-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_view1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340815-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340815-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^task-operator <t2> ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a4>
+          ^subtask-handle <s3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<t2> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a5>
+          ^subtask-handle <s5>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^1 <i3> ^type unary ^property-handle <p4> ^handle <h3>)
+   -{ (<o1> ^{ <a6> <> arg1 } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<o1> ^name op_view1 ^arg1 <a9> ^arg1 <a10> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<a10> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340815-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340815-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_view1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^task-handle turn-on1 ^name op_turn-on1 ^arg1 <a8>
+          ^subtask-handle <s7>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t340800-5
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t340800-4
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t340800-3
+    :chunk
+    (state <s1> ^name op_turn-on1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i3> ^handle <h2>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<i3> ^type unary ^1 <i4> ^property-handle <p4> ^handle <h3>)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s4> ^task-handle <t2> ^task-handle <t4>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<a9> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n1> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2> ^object <i4>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n4>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t340800-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t340800-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t340770-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t340760-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t340751-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t326722-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t299848-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask15)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t299809-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t299809-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299787-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299777-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299768-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1goal2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t299751-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t299741-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t299732-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286339-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1goal1)
+    (<t1> ^task-handle face1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle face1goal1)
+    (<i1> ^command-name face-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286324-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle face1)
+    (<o1> ^next-goal-handle face1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286315-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle face1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle face1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286300-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle face1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle face1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286276-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1goal2)
+    (<t1> ^task-handle view1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle view1goal2)
+    (<i2> ^1 <i1> ^property-handle is-visible1 ^handle visible1 ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286259-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle view1)
+    (<o1> ^next-goal-handle view1goal2 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286250-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle view1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle view1goal2
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286237-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle view1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle view1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286213-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^is-visible1 not-visible1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle view1 ^item-type task-operator ^name op_view1
+           ^arg1 <a2> ^subtask-handle subtask14)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t286174-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t286174-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+    (<s2> -^subtask-handle <s3> ^name op_view1 ^arg1 <a4> ^task-handle <t2>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_turn-on1)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-visible1 -^dont-copy is-activated1
+          -^dont-copy is-reachable1 -^dont-copy affordance1
+          ^affordance1 activatable1 ^is-reachable1 not-reachable1
+          ^is-activated1 not-activated1 ^is-visible1 not-visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t3> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286152-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1goal1)
+    (<t1> ^task-handle turn-on1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle turn-on1goal1)
+    (<i2> ^1 <i1> ^property-handle is-activated1 ^handle activated1
+           ^type unary)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t286135-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle turn-on1)
+    (<o1> ^next-goal-handle turn-on1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286126-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle turn-on1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle turn-on1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t286120-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle turn-on1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle turn-on1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t286096-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a1>)
+    (<a1> ^holding-object false)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^affordance1 activatable1 ^is-activated1 not-activated1
+          ^is-confirmed1 confirmed1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle turn-on1 ^item-type task-operator ^name op_turn-on1
+           ^arg1 <a2> ^subtask-handle subtask5)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t286083-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal6)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal6)
+    (<i1> ^subtask-handle subtask5 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t286056-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> inspect1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category lightswitch1)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t286045-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c2> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    (<c2> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^is-activated1 not-activated1 ^category lightswitch1)
+    -->
+    (<s1> ^operator <o3> + ^operator <o3> =)
+    (<o3> ^name select-next-goal ^next-goal-handle inspect1goal6
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t285610-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t285600-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t285591-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t250395-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> ^name copy-task-operator ^task-operator <t1> ^copy-name <c1>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1>)
+   -{ (<t1> ^<a1> <a2>)
+      (<a2> ^arg-type <a3>)}
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1>)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t39421-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t39411-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t39402-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t16138-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1goal1)
+    (<t1> ^task-handle go-to-xy1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle goto-xy1goal1)
+    (<i1> ^command-name go-to-command ^type execute-command)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t16123-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-xy1)
+    (<o1> ^next-goal-handle goto-xy1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t16114-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle goto-xy1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle goto-xy1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t739-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle goto-xy1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle goto-xy1start1 ^item-type start-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t718-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type coordinate ^coord <c2>)
+    (<c2> -^z <z1> ^y <y1> ^x <x1>)
+    -->
+    (<d1> ^<c1> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^coord <c4> ^arg-type coordinate)
+    (<c4> ^y <y1> ^x <x1>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t607-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle inspect1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id { <i1> <> <c1> })
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a2> ^subtask-handle subtask3)
+    (<a2> ^2 <i1> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1goal4)
+    (<t1> ^task-handle inspect1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle inspect1goal4)
+    (<i1> ^subtask-handle subtask3 ^type subtask)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t576-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle inspect1)
+    (<o1> ^next-goal-handle inspect1goal4 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t565-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle inspect1start2)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle inspect1goal4
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t330-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle inspect1start2)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle inspect1start2 ^item-type start-goal)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t478-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1start3)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1start3 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t895-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1start3)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1goal6
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t904-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1goal6 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> fetch1goal6 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t934-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1goal6)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle fetch1goal6)
+    (<i2> ^2 <o2> ^1 <i1> ^handle in1 ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t947-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^handle <h1> ^2 <i3>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a3> <a8>
+           ^<a1> <a9>)
+    (<a8> ^2 <i4> ^handle <h1> ^arg-type partial-predicate)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t953-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type relation ^handle <h1> ^2 <i2> ^1 <i3>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i4> ^<i3> <i5>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i6> ^pred-count 1)
+    (<i6> ^2 <i4> ^1 <i5> ^handle <h1> ^type relation)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t962-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t970-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t3137-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p2> ^world <w1>)
+    (<c1> -^performed-subtask <p1> -^performed-subtask subtask8)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p2> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p3>)
+    (<p3> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p4>)
+    (<p4> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask8)
+    (<m1> ^handle first1 ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3145-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h2> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3166-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3172-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3181-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3196-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1goal1)
+    (<t1> ^task-handle remember1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle remember1goal1)
+    (<i1> ^command-name remember-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3210-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle remember1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle remember1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3219-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle remember1)
+    (<o1> ^next-goal-handle remember1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3229-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle remember1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle remember1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3368-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3368-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_put-down1 ^arg1 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3369-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3369-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t3374-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t3374-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_find1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a5>)
+    (<a5> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t3414-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<a9> ^arg-type object ^id <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t3415-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a2> ^subtask-handle subtask9)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3421-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3442-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3455-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3464-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3481-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1goal1)
+    (<t1> ^task-handle find1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle find1goal1)
+    (<i2> ^1 <i1> ^property-handle is-confirmed1 ^handle confirmed1
+           ^type unary)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3488-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3511-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3524-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3533-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3549-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1goal1)
+    (<t1> ^task-handle go-to-location1 ^arg2 <a1> ^name <n1>)
+    (<a1> ^arg-type partial-predicate ^2 <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle gotoloc1goal1)
+    (<i2> ^1 <i1> ^name current-location ^type status)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t3555-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type waypoint ^id <i1>)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i1> ^arg-type waypoint)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3576-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3589-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3598-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t3676-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3700-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3709-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t3725-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^task-handle go-to-next-waypoint1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type waypoint ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle go-to-next-waypoint1goal1)
+    (<i2> ^1 <i1> ^name current-waypoint ^type status)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t3731-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-next-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-next-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t3740-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-next-waypoint1)
+    (<o1> ^next-goal-handle go-to-next-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t3750-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-next-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-next-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4050-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle go-to-waypoint1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle go-to-waypoint1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4059-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-waypoint1)
+    (<o1> ^next-goal-handle go-to-waypoint1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4069-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle go-to-waypoint1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle go-to-waypoint1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4086-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle gotoloc1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle gotoloc1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4095-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle go-to-location1)
+    (<o1> ^next-goal-handle gotoloc1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4105-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle gotoloc1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle gotoloc1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4122-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle find1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle find1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4131-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle find1)
+    (<o1> ^next-goal-handle find1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4141-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle find1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle find1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t4194-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4300-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4300-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_go-to-location1 ^arg2 <a4>
+          ^task-handle <t1>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4305-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy category
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4305-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_pick-up1 ^arg1 <a4> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy is-confirmed1 -^dont-copy category
+          ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4344-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^arm <a2>)
+    (<a2> ^holding-object false)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle pick-up1 ^item-type task-operator ^name op_pick-up1
+           ^arg1 <a3> ^subtask-handle subtask10)
+    (<a3> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4368-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4374-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4383-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4400-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1goal1)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle pick-up1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle grabbed1 ^type unary)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t4409-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^property-handle <p1> ^handle <h1> ^1 <i2>)
+    (<d1> ^copy-objects-map <c2>)
+    (<c2> ^<i2> <i3>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h2> ^1 <i4> ^pred-count 1)
+    (<i4> ^1 <i3> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4416-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4416-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s4> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> -^subtask-handle <s3> ^name op_approach1 ^arg1 <a4>
+          ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s4> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4455-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle pick-up1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-reachable1 not-reachable1 ^is-visible1 visible1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle approach1 ^item-type task-operator ^name op_approach1
+           ^arg1 <a2> ^subtask-handle subtask11)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t4479-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4492-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4501-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t4518-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1goal1)
+    (<t1> ^task-handle approach1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle approach1goal1)
+    (<i2> ^1 <i1> ^property-handle is-reachable1 ^handle reachable1
+           ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4534-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle approach1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle approach1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4543-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle approach1)
+    (<o1> ^next-goal-handle approach1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4553-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle approach1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle approach1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t4573-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle pick-up1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle pick-up1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t4582-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle pick-up1)
+    (<o1> ^next-goal-handle pick-up1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t4592-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle pick-up1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle pick-up1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t4622-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t4622-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s6> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superstate <s3> ^superproblem-space <s5> ^evaluation <e2>
+          ^superoperator <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_approach1 ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t3>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<s3> ^name op_pick-up1)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<s6> ^desired <d1> ^task-operator <t1>)
+   -{ (<t1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<t1> ^arg1 <a8> ^subtask-handle <s7> ^task-handle <t2> ^name <n2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    (<s5> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t4622-3
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t4622-4
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1> ^task-operator <t5>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h3>
+          ^handle <h4>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s4> ^task-handle <t4> ^name <n4>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<i1> ^type unary ^1 <i4> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p4> ^handle <h2>)
+    (<i3> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+    (<i4> ^predicates <p1>)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^arg1 <a9> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t2> ^task-handle <t3>)
+    (<a8> ^arg-type object ^id <i4>)
+    (<a9> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n2> ^name <n3>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i4> ^object <i3>)
+    (<t5> ^arg1 <a10> ^subtask-handle <s5> ^task-handle <t6> ^name <n1>)
+    (<a10> ^arg-type object ^id <i4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t4622-5
+    :chunk
+    (state <s1> ^name op_pick-up1 ^desired <d1> ^task-operator <t1>
+          ^operator <o1> + ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+   -{ (<t1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<t1> ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t3> ^name <n2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p3> ^handle <h1>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-reachable1 -^dont-copy is-grabbed1
+          -^dont-copy is-visible1 ^is-reachable1 not-reachable1
+          ^is-grabbed1 not-grabbed1 ^is-visible1 visible1)
+   -{ (<o1> ^{ <a5> <> arg1 } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<o1> ^name op_approach1 ^arg1 <a8> ^subtask-handle <s2> ^task-handle <t2>)
+    (<a8> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n1>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <i2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*OpNoChange*t4702-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<a9> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t4703-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask12)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t4710-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <i1> ^handle <h1>)
+    (<i1> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i1> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t5227-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-grabbed1 grabbed1)
+    -->
+    (<s1> ^operator <o2> +)
+    (<o2> ^task-handle put-down1 ^item-type task-operator ^name op_put-down1
+           ^arg1 <a2> ^subtask-handle subtask13)
+    (<a2> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t5251-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5277-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle put-down1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5286-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t5303-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1goal1)
+    (<t1> ^task-handle put-down1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i2> ^pred-count 1 ^handle put-down1goal1)
+    (<i2> ^1 <i1> ^property-handle is-grabbed1 ^handle not-grabbed1
+           ^type unary)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5319-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle put-down1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle put-down1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5328-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle put-down1)
+    (<o1> ^next-goal-handle put-down1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5338-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle put-down1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle put-down1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t5355-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle fetch1goal6)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle fetch1term5
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t5364-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle fetch1)
+    (<o1> ^next-goal-handle fetch1term5 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t5375-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle fetch1term5)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle fetch1term5 ^item-type terminal-goal)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5410-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5410-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s6>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<s5> ^desired <d1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    (<s4> ^name <n1>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5410-3
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5410-4
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^handle in1 ^type relation ^1 <i3> ^2 <i5>)
+    (<i2> ^handle in1 ^type relation ^1 <i4> ^2 <i6>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^arg1 <a5> ^subtask-handle <s2>
+          ^subtask-handle <s3> ^task-handle <t1> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i3>)
+    (<a5> ^arg-type object ^id <i4>)
+    (<p1> ^name action ^name <n1> ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p2>)
+    (<o2> ^object <i3> ^object <i4> ^object <i5> ^object <i6>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<p2> ^predicate <p3> ^predicate <p4>)
+    (<p3> ^handle in1)
+    (<p4> ^handle in1)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5410-5
+    :chunk
+    (state <s1> ^desired <d1> ^operator <o1> + ^problem-space <p1> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+   -{ (<o1> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<o1> ^name op_put-down1 ^arg1 <a4> ^subtask-handle <s2> ^task-handle <t1>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^name <n1>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p2>)
+    (<o2> ^object <i2> ^object <i3>)
+    (<r1> ^current-location <i3>)
+    (<p2> ^predicate <p3>)
+    (<p3> ^handle in1)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5421-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^handle <h1> ^2 <i1>)
+    (<o1> ^<i1> <i2>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a6>)
+    (<a6> ^2 <i2> ^handle <h1> ^arg-type partial-predicate)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5429-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5429-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg2 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_go-to-location1 ^arg2 <a4> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a4> ^arg-type partial-predicate ^2 <i2> ^handle <h2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5429-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5429-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h3>
+          ^handle <h4>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg2 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a6> ^arg2 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type partial-predicate ^2 <i5> ^handle <h1>)
+    (<a7> ^arg-type partial-predicate ^2 <i6> ^handle <h2>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o4> ^handle <h6>)
+    -->
+    (<o1> ^plan-length 2)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5429-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h2>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 grabbed1)
+   -{ (<o1> ^{ <a2> <> arg2 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_go-to-location1 ^arg2 <a5> ^subtask-handle <s3>
+          ^task-handle <t2>)
+    (<a5> ^arg-type partial-predicate ^2 <i3> ^handle <h1>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5445-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5445-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5445-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5445-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a8> <a9>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a10> <a11>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <c1>
+          ^object <c2>)
+    (<i5> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<i6> ^predicates <p3>)
+    (<r1> ^current-location <c1>)
+    (<r2> ^current-location <c2>)
+    (<p4> ^predicate <p5> ^predicate <p6>)
+    (<p5> ^handle in1)
+    (<p6> ^handle in1)
+    (<a9> ^arg-type partial-predicate ^2 <c1> ^handle <h3>)
+   -{ (<t2> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <c2> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5445-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a6> <a7>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_pick-up1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p4>)
+    (<o2> ^object <i2> ^object <i3> ^object <c1>)
+    (<i3> ^predicates <p3>)
+    (<p3> -^dont-copy modifier1 -^dont-copy is-confirmed1 -^dont-copy category
+          ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    (<r1> ^current-location <c1>)
+    (<p4> ^predicate <p5>)
+    (<p5> ^handle in1)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <c1> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5519-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 3)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5519-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_find1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action ^learning <l1>)
+    (<l1> ^type exploration)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a7> <a8>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5519-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5519-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a12> <a13>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+    (<i3> ^predicates <p1>)
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+   -{ (<o1> ^{ <a3> <> arg1 } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<o1> ^name op_find1 ^arg1 <a6> ^arg1 <a7> ^subtask-handle <s3>
+          ^subtask-handle <s4> ^task-handle <t3> ^task-handle <t4>)
+    (<a6> ^arg-type object ^id <i2>)
+    (<a7> ^arg-type object ^id <i3>)
+    (<p2> ^name action ^learning <l1> ^name <n3> ^name <n4>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^robot <r3> ^robot <r4>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i5> ^object <i6> ^object <o3>
+          ^object <o4>)
+    (<r1> ^current-location <i5>)
+    (<r2> ^current-location <i6>)
+    (<r3> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<r4> ^arm <a9>)
+    (<a9> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<t2> ^{ <a14> <> <a12> <> arg1 } <a15>)
+      (<a15> ^arg-type <a16>)}
+    (<a13> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 3)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5519-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a7> <a8>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1>)
+    (<p1> -^dont-copy affordance1 -^dont-copy is-confirmed1
+          -^dont-copy is-grabbed1 ^affordance1 grabbable1
+          ^is-grabbed1 not-grabbed1 ^is-confirmed1 not-confirmed1)
+   -{ (<o1> ^{ <a2> <> arg1 } <a3>)
+      (<a3> ^arg-type <a4>)}
+    (<o1> ^name op_find1 ^arg1 <a5> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<p2> ^name action ^learning <l1> ^name <n2>)
+    (<l1> ^type exploration)
+    (<w1> ^objects <o2> ^robot <r1> ^robot <r2> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<r2> ^arm <a6>)
+    (<a6> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<t1> ^{ <a9> <> <a7> <> arg1 } <a10>)
+      (<a10> ^arg-type <a11>)}
+    (<a8> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t5531-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+    (<a4> ^arg-type object ^id <i3>)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h2> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i4> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t5536-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>
+          ^{ <a7> > <a4> } <a8>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<a6> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a9> <> <a7> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<c2> ^{ <a12> <> <a7> <> <a4> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type modifiers ^handle <h1> -^handle { <h4> <> <h2> <> <h1> }
+          ^handle <h2>)
+    (<a15> ^arg-type modifiers ^handle <h1> ^handle { <h2> > <h1> }
+          -^handle { <h3> <> <h2> <> <h1> })
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5568-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 2)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5568-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+   -{ (<s2> ^{ <a1> <> arg1 } <a2>)
+      (<a2> ^arg-type <a3>)}
+    (<s2> ^name op_pick-up1 ^arg1 <a4> ^subtask-handle <s3> ^task-handle <t2>)
+    (<a4> ^arg-type object ^id <i2>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p2>)
+    (<p2> -^dont-copy is-grabbed1 ^is-grabbed1 not-grabbed1)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a5>
+          ^name { <n2> <> evaluate-operator } ^<a6> <a7>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<w1> ^objects <o2> ^robot <r1> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <o3>)
+    (<r1> ^current-location <i3>)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a8> <> <a6> <> arg1 } <a9>)
+      (<a9> ^arg-type <a10>)}
+    (<a7> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t5570-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+    -->
+    (<e1> ^plan-length 4)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t5570-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s5> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superoperator <s2>
+          ^superproblem-space <s4> ^evaluation <e2> ^superoperator <s7>
+          ^superstate <s8>)
+    (<s2> ^task-handle remember1 ^name op_remember1 ^arg2 <a1> ^arg1 <a2>
+          ^subtask-handle <s3> ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<a2> ^arg-type object ^id <i4>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^handle in1 ^type relation ^2 <i2> ^1 <i3>)
+    (<s5> ^desired <d1> ^task-operator <t1>)
+    (<t1> -^subtask-handle <s6> ^task-handle fetch1 ^arg1 <a3>
+          ^name { <n2> <> evaluate-operator } ^<a5> <a6>)
+    (<a3> ^arg-type object ^id <i3>)
+    (<i3> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i3> ^object <i2> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+    (<s4> ^name <n1>)
+    (<s8> ^name <n2>)
+   -{ (<t1> ^{ <a7> <> <a5> <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+   -{ (<s2> ^{ <a12> <> <a10> <> arg2 <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> }
+          -^handle { <h5> <> <h4> <> <h3> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t5570-3
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a11> <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> > <h5> }
+          -^handle { <h7> <> <h6> <> <h5> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t5570-4
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^task-operator <t2>
+          ^name <n1> ^name <n2> ^operator <o1> + ^problem-space <p2>
+          ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i4> ^handle <h1>
+          ^handle <h2>)
+    (<t1> ^task-handle fetch1 ^arg1 <a1> ^name { <n1> <> evaluate-operator }
+          ^<a16> <a17>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<t2> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a2>
+          ^name { <n2> <> evaluate-operator } ^<a18> <a19>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i5>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> }
+          ^category { <c2> << object person >> })
+    (<i3> ^predicates <p1> ^root-category { <r2> <> drink1 })
+    (<i4> ^handle in1 ^1 <i3> ^type relation ^2 <i6>)
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a3> ^arg2 <a4>
+          ^arg1 <a5> ^arg1 <a6> ^subtask-handle <s3> ^subtask-handle <s4>
+          ^<a9> <a10> ^<a11> <a12>)
+    (<a3> ^arg-type object ^id <i5>)
+    (<a4> ^arg-type object ^id <i6>)
+    (<a5> ^arg-type object ^id <i7>)
+    (<a6> ^arg-type object ^id <i8>)
+    (<p2> ^name action ^name <n3> ^name <n4>)
+    (<w1> ^objects <o2> ^robot <r3> ^robot <r4> ^robot <r5> ^robot <r6>
+          ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i5> ^object <i3> ^object <i6> ^object <i7>
+          ^object <i8> ^object <o3> ^object <o4>)
+    (<r3> ^current-location <i7>)
+    (<r4> ^current-location <i8>)
+    (<r5> ^arm <a7>)
+    (<a7> ^holding-object false)
+    (<r6> ^arm <a8>)
+    (<a8> ^holding-object false)
+    (<p3> ^predicate <p4> ^predicate <p5>)
+    (<p4> ^handle in1)
+    (<p5> ^handle in1)
+    (<a10> ^arg-type modifiers ^handle <h3> ^handle { <h4> > <h3> })
+   -{ (<o1> ^{ <a13> <> <a11> <> arg2 <> arg1 } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h5> ^handle { <h6> > <h5> }
+          -^handle { <h7> <> <h6> <> <h5> })
+    (<a17> ^arg-type partial-predicate ^2 <o3> ^handle <h8>)
+   -{ (<t2> ^{ <a20> <> <a18> <> arg1 } <a21>)
+      (<a21> ^arg-type <a22>)}
+    (<a19> ^arg-type partial-predicate ^2 <o4> ^handle <h9>)
+    -->
+    (<o1> ^plan-length 4)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t5570-5
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1> ^operator <o1> +
+          ^problem-space <p2> ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<t1> -^subtask-handle <s2> ^task-handle fetch1 ^arg1 <a1>
+          ^name { <n1> <> evaluate-operator } ^<a10> <a11>)
+    (<a1> ^arg-type object ^id <i2>)
+    (<i1> ^handle in1 ^type relation ^1 <i2> ^2 <i3>)
+    (<i2> ^predicates <p1> ^root-category { <r1> <> drink1 })
+    (<p1> -^dont-copy affordance1 -^dont-copy category
+          -^dont-copy is-confirmed1 -^dont-copy is-grabbed1
+          ^affordance1 grabbable1 ^is-grabbed1 not-grabbed1
+          ^is-confirmed1 not-confirmed1 ^category { <c1> << object person >> })
+    (<o1> ^task-handle remember1 ^name op_remember1 ^arg2 <a2> ^arg1 <a3>
+          ^subtask-handle <s3> ^<a5> <a6>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<a3> ^arg-type object ^id <i4>)
+    (<p2> ^name action ^name <n2>)
+    (<w1> ^objects <o2> ^robot <r2> ^robot <r3> ^predicates <p3>)
+    (<o2> ^object <i2> ^object <i3> ^object <i4> ^object <o3>)
+    (<r2> ^current-location <i4>)
+    (<r3> ^arm <a4>)
+    (<a4> ^holding-object false)
+    (<p3> ^predicate <p4>)
+    (<p4> ^handle in1)
+   -{ (<o1> ^{ <a7> <> <a5> <> arg2 <> arg1 } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> ^handle { <h3> > <h2> }
+          -^handle { <h4> <> <h3> <> <h2> })
+   -{ (<t1> ^{ <a12> <> <a10> <> arg1 } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a11> ^arg-type partial-predicate ^2 <o3> ^handle <h5>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t6449-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1start16)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1start16 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t6829-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> ^task-handle ensure1 ^arg1 <a1> ^name <n1>)
+    (<a1> ^arg-type object ^id <i1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <i1>)
+    (<i1> ^predicates <p2>)
+    (<p2> ^is-confirmed1 confirmed1)
+    -->
+    (<s1> ^operator <o2> + ^operator <o2> =)
+    (<o2> ^name select-next-goal ^next-goal-handle ensure1term19
+           ^next-goal-type terminal-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t6838-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term19 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t6849-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term19)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term19 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7434-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1start16)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal23
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*2*implicit*OpNoChange*t7445-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal23 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal23 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1> ^implicit-object <i2>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+    (<i2> ^default <d2>)
+    (<d2> ^modifier1 current1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7483-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal23)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal23)
+    (<i1> ^subtask-handle subtask22 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t7502-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^world <w1>)
+    (<c1> -^performed-subtask subtask22)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2> ^object <o3>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 current1 ^category location)
+    (<o3> ^predicates <p3>)
+    (<p3> ^modifier1 starting1 ^is-confirmed1 not-confirmed1
+          ^category location)
+    -->
+    (<s1> ^operator <o4> +)
+    (<o4> ^task-handle remember1 ^item-type task-operator ^name op_remember1
+           ^modifiers <m1> ^arg2 <a1> ^arg1 <a2> ^subtask-handle subtask22)
+    (<m1> ^handle once1 ^arg-type modifiers)
+    (<a1> ^id <o3> ^arg-type object)
+    (<a2> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7510-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> -^abstract true)
+    (<a4> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i2> ^arg-type object)
+    (<a12> ^id <i1> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7759-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal23)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal27
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t7770-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal27 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal27 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^name co1 ^category officer1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7799-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal27)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal27)
+    (<i1> ^subtask-handle subtask26 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t7812-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2> ^root-category { <r1> <> drink1 })
+    (<p2> ^is-confirmed1 not-confirmed1 ^category officer1 ^name co1
+          ^category { <c1> << object person >> })
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle find1 ^item-type task-operator ^name op_find1
+           ^arg1 <a1> ^subtask-handle subtask26)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7835-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^task-operator <t1>
+          ^copy-name <c1> ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^pred-count 1 ^arg-type temporal-clause ^1 <i1>)
+    (<i1> ^type unary ^1 <i2> ^property-handle <p1> ^handle <h1>)
+    (<i2> -^abstract true)
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a1> <a6>)
+    (<a6> ^1 <i3> ^pred-count 1 ^arg-type temporal-clause)
+    (<i3> ^1 <i2> ^property-handle <p1> ^handle <h1> ^type unary)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7856-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle scan1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7869-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle scan1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle scan1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7878-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle scan1)
+    (<o1> ^next-goal-handle scan1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7893-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle scan1goal1)
+    (<t1> ^task-handle scan1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle scan1goal1)
+    (<i1> ^command-name scan-command ^type execute-command)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t7910-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a7> > <a1> } <a8> ^{ <a9> > <a7> } <a10>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a3> <a4> -^<a5> { <a6> <> <a4> })
+    (<a8> ^arg-type object ^id <i2>)
+    (<i2> -^abstract true)
+   -{ (<t1> ^{ <a11> <> <a9> <> <a7> <> <a1> } <a12>)
+      (<a12> ^arg-type <a13>)}
+    (<a10> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a9> <a14> ^<a7> <a15> ^<a1> <a16>)
+    (<a14> ^handle <h1> ^arg-type modifiers)
+    (<a15> ^id <i2> ^arg-type object)
+    (<a16> ^id <i3> ^arg-type object)
+    (<i3> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a3> <a4>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t7931-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7937-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1start1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1goal1
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7946-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t7961-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1goal1)
+    (<t1> ^task-handle recall1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle recall1goal1)
+    (<i1> ^command-name recall-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t7989-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle recall1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle recall1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t7998-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle recall1)
+    (<o1> ^next-goal-handle recall1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t8008-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle recall1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle recall1term1 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t8023-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<a4> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^pred-count 1 ^arg-type temporal-clause ^1 <i2>)
+    (<i2> ^type unary ^1 <i3> ^property-handle <p2> ^handle <h3>)
+    (<i3> -^abstract true)
+    (<p1> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a16> ^<a3> <a17> ^<a1> <a18>)
+    (<a16> ^1 <i4> ^pred-count 1 ^arg-type temporal-clause)
+    (<i4> ^1 <i3> ^property-handle <p2> ^handle <h3> ^type unary)
+    (<a17> ^handle <h1> ^arg-type modifiers)
+    (<a18> ^id <i5> ^arg-type object)
+    (<i5> ^predicates <p3> ^abstract true ^item-type object)
+    (<p3> ^<a12> <a13> ^<a10> <a11>)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9024-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal27)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal33
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9035-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal33 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal33 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^category sentry1)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9062-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal33)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal33)
+    (<i1> ^subtask-handle subtask32 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9079-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^category sentry1)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask32)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9103-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9129-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9138-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9153-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1goal1)
+    (<t1> ^task-handle describe1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle describe1goal1)
+    (<i1> ^command-name describe-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9179-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle describe1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle describe1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9188-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle describe1)
+    (<o1> ^next-goal-handle describe1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9199-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle describe1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle describe1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9389-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal33)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal39
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9400-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal39 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal39 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^sentence |is not present| ^category message)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9425-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal39)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal39)
+    (<i1> ^subtask-handle subtask38 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9449-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^operator <o1> +)
+    (<o1> ^task-handle say1 ^item-type task-operator ^name op_say1 ^arg1 <a1>
+           ^subtask-handle subtask38)
+    (<a1> ^id <i1> ^arg-type object)
+    (<i1> ^predicates <p2> ^abstract true)
+    (<p2> ^category message ^sentence |is not present|)
+}
+
+sp {chunk*__COPY__TASK__*anystate*apply*copy-task-operator*OpNoChange*t9455-1
+    :chunk
+    (state <s1> ^operator <o1>)
+    (<o1> -^object-map <o2> ^name copy-task-operator ^copy-name <c1>
+          ^destination <d1> ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<d1> ^<c1> <c2>)
+    (<c2> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a6> <a7>)
+}
+
+sp {chunkx2*__TASK_S_GOAL_*task*elaborate*desired*start-goal*OpNoChange*t9476-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1start1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1start1 ^item-type start-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9493-1
+    :chunk
+    (state <s1> ^desired <d1> ^task-operator <t1> ^name <n1>
+          ^problem-space <p1> ^current-task-segment <c1>
+          ^current-task-segment <c3> ^world <w1>)
+    (<d1> ^satisfied true)
+    (<t1> -^arg2 <a1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1start1)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1goal1
+           ^next-goal-type task-goal ^has-conditions true)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9502-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1goal1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9517-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1goal1)
+    (<t1> ^task-handle say1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle say1goal1)
+    (<i1> ^command-name say-command ^type execute-command)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9543-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle say1goal1)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle say1term1
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t9552-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle say1)
+    (<o1> ^next-goal-handle say1term1 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t9563-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle say1term1)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle say1term1 ^item-type terminal-goal)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t9799-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal39)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal42
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t9810-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal42 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal42 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t9837-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal42)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal42)
+    (<i1> ^subtask-handle subtask41 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*2*OpNoChange*t9861-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^objects <o1>)
+    (<o1> ^object <o2>)
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle describe1 ^item-type task-operator ^name op_describe1
+           ^arg1 <a1> ^subtask-handle subtask41)
+    (<a1> ^id <o2> ^arg-type object)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10146-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal42)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1goal45
+           ^next-goal-type task-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*1*implicit*OpNoChange*t10157-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1> ^current-task-segment <c1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1goal45 ^name select-next-goal)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle { <h1> <> ensure1goal45 })
+    -->
+    (<s1> ^apply-select-next-goal true)
+    (<c1> ^implicit-object <i1>)
+    (<i1> ^default <d1>)
+    (<d1> ^modifier1 starting1 ^category location)
+}
+
+sp {chunkx2*__TASK__GOAL__*task*elaborate*desired*OpNoChange*t10184-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1goal45)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^1 <i1> ^pred-count 1 ^handle ensure1goal45)
+    (<i1> ^subtask-handle subtask44 ^type subtask)
+}
+
+sp {chunkx2*__PROP__SUBT__*problem-space*action*propose*subtask*3*OpNoChange*t10206-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^name <n1> ^problem-space <p1> ^world <w1>)
+    (<t1> ^task-handle ensure1 ^name <n1>)
+    (<p1> ^name action)
+    (<w1> ^robot <r1> ^objects <o1>)
+    (<r1> ^current-location <c1>)
+    (<o1> ^object { <o2> <> <c1> })
+    (<o2> ^predicates <p2>)
+    (<p2> ^modifier1 starting1 ^is-confirmed1 confirmed1 ^category location)
+    -->
+    (<s1> ^operator <o3> +)
+    (<o3> ^task-handle go-to-location1 ^item-type task-operator
+           ^name op_go-to-location1 ^arg2 <a1> ^subtask-handle subtask44)
+    (<a1> ^2 <o2> ^handle to1 ^arg-type partial-predicate)
+}
+
+sp {chunkx2*__SEL_NEXT_GOAL__*propose*select-next-goal*superstate*OpNoChange*t10828-1
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^current-task-segment <c1>
+          ^task-operator <t1> ^name <n1>)
+    (<d1> ^satisfied true)
+    (<p1> ^name action)
+    (<c1> ^current-goal <c2>)
+    (<c2> ^handle ensure1goal45)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^operator <o1> + ^operator <o1> =)
+    (<o1> ^name select-next-goal ^next-goal-handle ensure1term47
+           ^next-goal-type terminal-goal ^has-conditions false)
+}
+
+sp {chunk*subproblem*execute*apply*select-next-goal*change*current-goal*0*implicit*OpNoChange*t10837-1
+    :chunk
+    (state <s1> ^task-operator <t1> ^operator <o1>)
+    (<t1> ^task-handle ensure1)
+    (<o1> ^next-goal-handle ensure1term47 ^name select-next-goal)
+    -->
+    (<s1> ^apply-select-next-goal true)
+}
+
+sp {chunkx2*__TASK_T_GOAL_*task*elaborate*desired*terminal-goal*OpNoChange*t10848-1
+    :chunk
+    (state <s1> ^current-task-segment <c1> -^copy-task-goal <c2>
+          ^problem-space <p1> ^task-operator <t1> ^name <n1>)
+    (<c1> ^current-goal <c3>)
+    (<c3> ^handle ensure1term47)
+    (<p1> ^name action)
+    (<t1> ^name <n1>)
+    -->
+    (<s1> ^desired <d1>)
+    (<d1> ^handle ensure1term47 ^item-type terminal-goal)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10881-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^task-operator <t1> ^object-map <o1> ^copy-name <c2>
+          ^destination <d1>)
+    (<t1> -^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2>)
+   -{ (<t1> ^{ <a5> <> <a3> <> <a1> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type concept ^handle <h1>)
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^task-handle <t2> ^item-type task-operator ^name <n1> ^<a3> <a8>
+           ^<a1> <a9>)
+    (<a8> ^handle <h1> ^arg-type concept)
+    (<a9> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__COPY__GOAL__*anystate*copy-task-goal*elaborate*copy*no*modifiers*OpNoChange*t10891-1
+    :chunk
+    (state <s1> ^copy-task-goal <c1> ^deep-copy-world <d1>)
+    (<c1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<d1> ^copy-objects-map <c2>)
+    -->
+    (<s1> ^desired <d2>)
+    (<d2> ^duplicate-of <c1> ^handle <h1> ^1 <i2> ^pred-count 1)
+    (<i2> ^subtask-handle <s2> ^type subtask)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10892-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10892-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10892-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10892-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type partial-predicate ^2 <o4> ^handle <h4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10892-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type partial-predicate ^2 <o3> ^handle <h2>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10906-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10906-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10906-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10906-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <o4>)
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10906-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <o3>)
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10916-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>)
+   -{ (<t1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p1>)
+    (<p1> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a1> <a12>)
+    (<a12> ^id <i2> ^arg-type object)
+    (<i2> ^predicates <p2> ^abstract true ^item-type object)
+    (<p2> ^<a8> <a9> ^<a6> <a7>)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10921-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a9>)
+    (<t2> ^task-handle <t1> ^<a1> <a2>)
+   -{ (<t2> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+   -{ (<c2> ^{ <a6> <> <a1> } <a7>)
+      (<a7> ^arg-type <a8>)}
+    (<a2> ^arg-type object ^id <i1>)
+    (<i1> ^abstract true ^predicates <p2>)
+    (<a9> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p1>)
+    (<p2> ^<a10> <a11> ^<a12> { <a13> > <a11> }
+          -^<a14> { <a15> <> <a13> <> <a11> })
+    (<p1> ^<a10> <a11> ^<a12> <a13>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10925-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10925-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>)
+    (<s2> ^name <n1>)
+   -{ (<s5> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10925-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> } ^<a12> <a13>
+          ^<a14> { <a15> > <a13> } -^<a16> { <a17> <> <a15> <> <a13> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10925-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2> ^<a3> <a4>)
+    (<a2> ^arg-type object ^id <i3>)
+    (<i3> ^abstract true ^predicates <p2>)
+   -{ (<o1> ^{ <a5> <> <a3> } <a6>)
+      (<a6> ^arg-type <a7>)}
+    (<a4> ^arg-type object ^id <i4>)
+    (<i4> ^abstract true ^predicates <p2>)
+    (<p2> ^<a8> <a9> ^<a10> { <a11> > <a9> } ^<a12> <a13>
+          ^<a14> { <a15> > <a13> } -^<a16> { <a17> <> <a15> <> <a13> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10925-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>)
+   -{ (<o1> ^{ <a3> <> <a1> } <a4>)
+      (<a4> ^arg-type <a5>)}
+    (<a2> ^arg-type object ^id <i2>)
+    (<i2> ^abstract true ^predicates <p2>)
+    (<p2> ^<a6> <a7> ^<a8> { <a9> > <a7> } -^<a10> { <a11> <> <a9> <> <a7> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
+sp {chunk*__COPY__TASK__*anystate*copy-task-operator*elaborate*copy*OpNoChange*t10955-1
+    :chunk
+    (state <s1> ^copy-task-operator <c1>)
+    (<c1> ^object-map <o1> ^copy-name <c2> ^destination <d1>
+          ^task-operator <t1>)
+    (<t1> ^subtask-handle <s2> ^task-handle <t2> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<o1> ^<i1> <i2> ^<i3> <i4>)
+    (<a4> ^arg-type object ^id <i3>)
+   -{ (<t1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    -->
+    (<d1> ^<c2> <c3>)
+    (<c3> ^subtask-handle <s2> ^task-handle <t2> ^item-type task-operator
+           ^name <n1> ^<a5> <a10> ^<a3> <a11> ^<a1> <a12>)
+    (<a10> ^handle <h1> ^arg-type modifiers)
+    (<a11> ^id <i4> ^arg-type object)
+    (<a12> ^id <i2> ^arg-type object)
+}
+
+sp {chunk*__MATCH_TASK__*anystate*match-task-operator*elaborate*successful-match*Tie*t10960-1
+    :chunk
+    (state <s1> ^match-task-operator <m1>)
+    (<m1> ^candidate-tasks <c1> ^task-operator <t2>)
+    (<c1> ^candidate-task-operator <c2>)
+    (<c2> ^task-handle <t1> ^<a1> <a3> ^<a4> <a6> ^<a7> <a15>)
+    (<t2> ^task-handle <t1> ^<a1> <a2> ^{ <a4> > <a1> } <a5>
+          ^{ <a7> > <a4> } <a8>)
+    (<a2> ^arg-type object ^id <i1>)
+    (<a3> ^arg-type object ^id <i1>)
+    (<a5> ^arg-type object ^id <i2>)
+    (<a6> ^arg-type object ^id <i2>)
+   -{ (<t2> ^{ <a9> <> <a7> <> <a4> <> <a1> } <a10>)
+      (<a10> ^arg-type <a11>)}
+   -{ (<c2> ^{ <a12> <> <a7> <> <a4> <> <a1> } <a13>)
+      (<a13> ^arg-type <a14>)}
+    (<a8> ^arg-type modifiers ^handle <h1> -^handle { <h2> <> <h1> })
+    (<a15> -^handle { <h3> <> <h1> } ^arg-type modifiers ^handle <h1>)
+    -->
+    (<m1> ^successful-match <c2>)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*plan-length*Tie*t10964-1
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<e1> ^plan-length 1)
+}
+
+sp {chunk*evaluate-operator*elaborate*evaluation*from-subgoal*duplicate-desired*Tie*t10964-2
+    :chunk
+    (state <s1> ^operator <o1> ^evaluation <e1> ^problem-space <p1>
+          ^superstate <s3> ^world <w1>)
+    (<o1> ^name evaluate-operator ^evaluation <e1> ^superproblem-space <s2>
+          ^evaluation <e2> ^superoperator <s5> ^superoperator <s6>)
+    (<p1> ^name action)
+    (<e2> ^desired <d1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s4>)
+    (<s3> ^desired <d1>)
+    (<s5> ^subtask-handle <s4> ^task-handle <t1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<s2> ^name <n1>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<s5> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<e1> ^symbolic-value success)
+}
+
+sp {chunk*__PLAN__LEN__*problem-space*action*subtask*plan-length*OpNoChange*t10964-3
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6> ^<a7> <a8>
+          ^{ <a9> > <a7> } <a10> ^{ <a11> > <a9> } <a12>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+    (<a6> ^arg-type modifiers ^handle <h3>)
+    (<a8> ^arg-type object ^id <o6>)
+    (<a10> ^arg-type object ^id <o5>)
+   -{ (<o1> ^{ <a13> <> <a11> <> <a9> <> <a7> } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*problem-space*action*elaborate*subtask-plan-length*OpNoChange*t10964-4
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^1 <i2> ^handle <h1>
+          ^handle <h2>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<i2> ^type subtask ^subtask-handle <s3>)
+    (<p1> ^name action ^name <n3> ^name <n4>)
+    (<o1> ^subtask-handle <s2> ^subtask-handle <s3> ^task-handle <t1>
+          ^task-handle <t2> ^name <n1> ^name <n2> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6> ^<a7> <a8>
+          ^{ <a9> > <a7> } <a10> ^{ <a11> > <a9> } <a12>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4> ^object <o5> ^object <o6>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+    (<a6> ^arg-type modifiers ^handle <h3>)
+    (<a8> ^arg-type object ^id <o6>)
+    (<a10> ^arg-type object ^id <o5>)
+   -{ (<o1> ^{ <a13> <> <a11> <> <a9> <> <a7> } <a14>)
+      (<a14> ^arg-type <a15>)}
+    (<a12> ^arg-type modifiers ^handle <h4> -^handle { <h5> <> <h4> })
+    -->
+    (<o1> ^plan-length 1)
+}
+
+sp {chunk*__TASK_POLICY__*problem-space*action*subtask*best*preference*OpNoChange*t10964-5
+    :chunk
+    (state <s1> ^desired <d1> ^problem-space <p1> ^operator <o1> + ^world <w1>)
+    (<d1> -^modifiers <m1> ^pred-count 1 ^1 <i1> ^handle <h1>)
+    (<i1> ^type subtask ^subtask-handle <s2>)
+    (<p1> ^name action ^name <n2>)
+    (<o1> ^subtask-handle <s2> ^task-handle <t1> ^name <n1> ^<a1> <a2>
+          ^{ <a3> > <a1> } <a4> ^{ <a5> > <a3> } <a6>)
+    (<w1> ^objects <o2>)
+    (<o2> ^object <o3> ^object <o4>)
+    (<a2> ^arg-type object ^id <o4>)
+    (<a4> ^arg-type object ^id <o3>)
+   -{ (<o1> ^{ <a7> <> <a5> <> <a3> <> <a1> } <a8>)
+      (<a8> ^arg-type <a9>)}
+    (<a6> ^arg-type modifiers ^handle <h2> -^handle { <h3> <> <h2> })
+    -->
+    (<s1> ^operator <o1> > ^best-pref-eval <o1>)
+}
+
diff --git a/examples/kitchen-study/script.txt b/examples/kitchen-study/script.txt
new file mode 100644
index 0000000000..38729c315b
--- /dev/null
+++ b/examples/kitchen-study/script.txt
@@ -0,0 +1,166 @@
+## Train Fetch (Pre-loaded in fetch-chunks.soar & extra-smem-adds.soar)
+#Fetch a radio from the eastern sentry-post.
+#The only goal is that the radio is in the starting location.
+#First, remember the current location as the starting location.
+#
+## Train Ensure
+#Go to the eastern sentry-post.
+#Ensure a sentry is present. 
+#If a sentry is present then finish the task. 
+#
+#Ensure a dispatcher is present. 
+#Remember the current location as the starting location. 
+#Find the CO. 
+#The CO is in the CO's office. 
+#Describe the sentry. 
+#!CMD SKIP .
+#Say "is not present". 
+#!CMD SKIP .
+#Describe the starting location. 
+#!CMD SKIP .
+#Go to the starting location.
+#You are done. 
+
+### TEACH INSPECT
+Inspect the eastern sentry-post. 
+Go to the eastern sentry-post. 
+If the lightswitch is off then turn on the lightswitch. 
+If you are in a sentry-post and an extinguisher is not present then fetch an extinguisher from the supply room. 
+If you are in a sentry-post then ensure a sentry is present.
+If the current location is empty then turn off the lightswitch. 
+You are done. 
+
+### TEACH RAISE ALARM
+Raise a fire-alarm. 
+Remember the current location as the emergency location. 
+Go to the eastern hallway. 
+Turn on the alarm.
+Say "There is a fire." to the CO. 
+The CO is in the CO's office. 
+!CMD SKIP .
+Describe the emergency location.
+!CMD SKIP .
+Go to the emergency location.
+You are done. 
+
+Whenever you see a fire then raise a fire-alarm. 
+
+
+# Turn off the fire alarm 
+!CMD off 23 .
+
+
+### TEACH GUARD
+Guard the barracks.
+Ask "Who is my relieving officer?".
+Officer Mercer. 
+Remember the answer as the relieving officer. 
+Repeat the following tasks until the relieving officer is present. 
+
+
+### Inspect messhall
+Inspect the messhall. 
+
+# TRIGGER: Turning on the lights in the messhall
+# Put the plate/ketchup on the table and interrupt inspect
+!CMD place 30 on1 24 .
+!CMD place 31 on1 24 .
+Interrupt inspect. 
+
+If you are in the messhall and a plate is on the table then move the plate into the sink. 
+The only goal is that the plate is in the sink. 
+
+If you are in the messhall and a condiment is on the table then store the condiment. 
+If it is a condiment then the only goal is that the condiment is in the fridge and the fridge is closed. 
+
+Continue inspect.
+
+### Inspect eastern sentry-post
+Inspect the eastern sentry-post. 
+
+### Inspect motorpool
+Inspect the motorpool. 
+
+# TRIGGER: Turning on the lights in the motorpool
+Interrupt inspect. 
+
+If you are in the motorpool then complete the following tasks. 
+Ensure a sentry is present. 
+Ensure a dispatcher is present. 
+Lock a vehicle.
+You are done. 
+
+Continue inspect. 
+
+# Move Mercer to the CO's office
+#!CMD teleport 15 3.34 11.50 0.90 wp02
+
+Go to the CO's office. 
+
+Repeat. 
+
+You are done.
+
+!CMD cli stop .
+
+##### TESTING
+#Guard the barracks.
+#Officer Williams. 
+#
+#### Inspect Messhall #1
+## Move plate onto the table
+#!CMD place 30 on1 24 .
+#!CMD SKIP .
+#
+#
+#### Inspect Eastern Sentry Post #1
+## Remove the sentry
+#!CMD teleport 20 21.00 3.00 0.90 wp09 .
+#!CMD SKIP .
+## Ignore the ensure reporting messages
+#!CMD SKIP .
+#!CMD SKIP .
+#!CMD SKIP .
+#
+#
+#### Inspect Motorpool #1
+## Move a fire to the motorpool
+#!CMD teleport 49 7.00 1.00 0.50 wp08 .
+## Move the CO to the messhall
+#!CMD teleport 19 13.00 8.00 0.90 wp04 .
+#!CMD SKIP .
+## Dont help find the CO
+#Unknown.
+## Ignore fire messages - remove fire from motorpool
+#!CMD SKIP .
+#!CMD teleport 49 20.00 4.00 0.50 wp09 .
+#!CMD SKIP .
+#
+#
+#### Inspect Messhall #2
+## Remove ketchup, add mustard onto table
+#!CMD teleport 31 19.00 4.00 0.20 wp09 .
+#!CMD teleport 32 13.00 10.00 1.00 wp04 .
+#!CMD place 32 on1 24 .
+#!CMD SKIP .
+#
+#
+#### Inspect Eastern Sentry Post #2
+## Put the sentry back, remove the extinguisher
+#!CMD teleport 20 29.00 12.50 0.90 wp09 .
+#!CMD teleport 36 24.00 8.00 0.20 wp07 .
+#!CMD SKIP .
+#
+#
+#### Inspect Motorpool #2
+## Remove the dispatcher
+#!CMD teleport 37 21.00 3.00 0.90 wp09 .
+## Move Williams to the CO's office
+#!CMD teleport 50 3.34 11.50 0.90 wp02.
+#!CMD teleport 15 8.00 17.00 0.90 wp01 .
+#!CMD SKIP .
+#
+## Ignore the ensure reporting messages
+#!CMD skip .
+#!CMD skip .
+#!CMD skip .
diff --git a/examples/kitchen-study/smem-config.txt b/examples/kitchen-study/smem-config.txt
new file mode 100644
index 0000000000..041a43736c
--- /dev/null
+++ b/examples/kitchen-study/smem-config.txt
@@ -0,0 +1,65 @@
+process-file full-training-tcns.soar
+
+template proper-name _HANDLE_ _WORD_* {
+    alice1 alice
+    bob1 bob
+    charlie1 charlie
+	co1 co
+	williams1 williams
+	mercer1 mercer
+}
+
+template possessive _HANDLE_ _WORD_* {
+    alices1 alice's
+    bobs1 bob's
+    charlies1 charlie's
+	cos1 co's
+}
+
+template modifier _HANDLE_ _TYPE_ _WORD_* {
+	commanding1 ADJ commanding
+	relieving1 ADJ relieving
+	firey1 ADJ firey
+	emergency1 ADJ emergency
+	supply1 ADJ supply
+}
+
+template category _HANDLE_ _WORD_ _SUPER_ _AFFORDANCE_* {
+	bunk1 bunk furniture1
+	radio1 radio appliance1 grabbable1
+	alarm1 alarm appliance1 activatable1
+	fire-alarm1 fire-alarm event1 
+	extinguisher1 extinguisher object grabbable1
+	fire1 fire object
+
+	vehicle1 vehicle object lockable1
+	car1 car vehicle1 lockable1
+	truck1 truck vehicle1 lockable1
+
+	officer1 officer person
+	sentry1 sentry person
+	armorer1 armorer person
+	dispatcher1 dispatcher person
+	chef1 chef person
+
+	post1 sentry-post room1
+	barracks1 barracks location
+
+}
+
+template name _HANDLE_ _WORDTYPE_ _WORD_* {
+	messhall1 N messhall 
+	armory1 N armory 
+	motorpool1 N motorpool 
+	quarters1 N quarters
+	dish1 N dish
+	sauce1 N sauce
+	switch1 N switch
+	light1 N light
+	refrigerator1 N refrigerator
+	trash-can1 N trash-can
+	range1 N range
+	kitchen1 N kitchen
+}
+
+
diff --git a/examples/kitchen-study/test.config b/examples/kitchen-study/test.config
new file mode 100644
index 0000000000..648cff447b
--- /dev/null
+++ b/examples/kitchen-study/test.config
@@ -0,0 +1,103 @@
+####
+# agent-dir = <path> (Relative to the directory this file is in)
+#   OPTIONAL: default is the directory this config file is in
+# The directory to create the agent directory in
+# !NOTE: This setting should be at the top of the file
+#
+agent-dir = test-agent
+
+
+###
+# agent-name = <string>
+#   OPTIONAL: default is the name of the config file (minus extension)
+# The name of the agent, used to identify other config files in the directory
+
+agent-name = template
+
+
+####
+# source-soar-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file
+# You can use the following path prefixes:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
+
+source-soar-file = ${config-dir}/extra-soar-rules.soar
+source-soar-file = ${config-dir}/internal-world.soar
+source-soar-file = ${config-dir}/waypoint-map.soar
+
+####
+# source-smem-file = <filename> [ANY NUMBER]
+# Will tell the soar agent to source the give file containing smem adds
+#    it will be put through the LTI mapping process and copied into the agent dir
+# You can use the following path prefixes with the file:
+#   ${config-dir} - resolves to the directory that contains this file
+#   ${agent-dir} - resolves to the created agent directory
+#   ${rosie-agent} - resolves to $ROSIE_HOME/agent
+
+source-smem-file = ${config-dir}/extra-smem-adds.soar
+
+####
+# smem-config-file = <filename> [ANY NUMBER]
+# File containing configuration information for initializing semantic memory
+#   Serves as input into the SmemConfigurator java tool
+# You can use the ${...} path prefixes with the file
+
+smem-config-file = ${rosie-agent}/_smem_config.txt
+smem-config-file = ${config-dir}/smem-config.txt
+
+
+####
+# domain = << magicbot tabletop internal fetch >>
+#   REQUIRED
+# Which domain this agent is operating in (determines how perception/action is handled)
+# Will create the wme (<s> ^agent-params.domain <domain>) on the top-state
+
+domain = internal
+
+
+####
+# parser = << laird lucia >>
+#   OPTIONAL: Default is laird
+# Which parser will be used to interpret new messages
+# Will create the wme (<s> ^agent-params.parser <parser>) on the top-state
+
+parser = laird
+
+
+####
+# sentence-source = << chat scripts >>
+#   OPTIONAL: Default is chat
+# Where new sentences come from (either chat interface or internal automated scripts)
+# Will create the wme (<s> ^agent-params.sentence-source <source>) on the top-state)
+
+sentence-source = scripts
+
+
+####
+# sentences-file = <path> (Relative to the directory this file is in)
+#   OPTIONAL: Defaults to ./<agent-name>.sentences
+# A file with a list of sentences (one per line) to send to the agent
+#   If sentence-source = scripts, this serves as input into the SentencesGenerator java tool
+#   If sentence-source = chat, this will create message buttons on the chat panel
+
+sentences-file = script.txt
+
+
+
+####
+# CLIENT SETTINGS
+# Any additional settings here will be put into the autogenerated rosie-client.config file
+
+reconfig-on-launch = true
+
+spawn-debugger = false
+source-output = summary
+write-to-stdout = true
+watch-level = 0
+
+#enable-log = true
+log-filename = test-agent-log.txt
+
+
diff --git a/examples/kitchen-study/world-all-objs.info b/examples/kitchen-study/world-all-objs.info
new file mode 100644
index 0000000000..1ff7d229e1
--- /dev/null
+++ b/examples/kitchen-study/world-all-objs.info
@@ -0,0 +1,48 @@
+scale 0.5
+#robot 11.00 25.0 0.0
+robot 30.0 20.0 0.0
+# Building map with an outer ring of rooms surrounding inner rooms and a ring hallway in between
+# Recommend scale = 0.5
+
+#         CX CY Y  W  H
+# Rooms
+region  4 30 20 0 20 12
+
+
+# Room 4: Mess Hall
+# category                  X     Y     Z       ROT    WID   LEN   HGT   R   G   B   # preds
+Pantry                      22.48 24.75 0.00    270   1.70  3.00  3.00               0
+Oven                        29.30 24.75 0.00    270   2.00  3.50  2.00               0
+Fridge                      34.50 24.75 0.02    270   1.70  3.00  4.00               0
+SimObject pizza1            34.70 25.00 1.35      0   0.80  0.80  0.10 255   0   0   2 cylinder color=red1
+Counter                     38.50 22.00 0.00    180   2.00  4.00  1.50               0 
+Sink                        38.50 18.25 1.00    180   2.50  3.45  0.50               0
+Stove                       36.00 15.50 0.00     90   2.00  3.00  1.50 200 200 200   0
+Garbage                     32.00 15.00 0.02     90   1.00  2.00  1.20  80 150  80   0
+Table                       22.00 17.50 0.00      0   3.00  5.00  1.00               1 color=brown1
+#BoxObject                   38.50 15.50 0.00      0   2.00  2.00  1.50 250 230 140   0
+Cooler    manual            22.00 21.00 0.01      0   1.20  1.20  2.00               1 temp_id=cooler1
+Button    cooler1           22.60 21.00 1.70      0   0.10  0.10  0.10    0   0 255  1 color=blue1
+
+
+# Pizza box is in the fridge
+# Pizza is in the pizza-box(openablebox) in the fridge
+#OpenableBox                 33.50 24.80 1.30      0   1.30  1.30  0.30               0
+#OpenableBox                 38.50 22.00 1.50      0   1.30  1.30  0.30               0
+# Baking sheet is in the pantry
+#SimObject baking-sheet1     22.50 24.75 1.52      0   2.25  1.50  0.1  105 105 105   2 color=gray1
+#SimObject plate1            22.50 24.50 1.52      0   0.95  0.95  0.1    0   0 255   2 cylinder color=blue1
+
+
+#### Light switches
+#         on/off reg  X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+LightSwitch on wp04 27.00 25.75 1.00   270   0.50  0.50  0.50               0 
+
+
+##### WALLS
+#     X  Y  X  Y
+# Inner room walls
+wall 20 26 40 26
+wall 40 26 40 14
+wall 40 14 20 14
+wall 20 14 20 26
diff --git a/examples/kitchen-study/world.info b/examples/kitchen-study/world.info
new file mode 100644
index 0000000000..bba9918741
--- /dev/null
+++ b/examples/kitchen-study/world.info
@@ -0,0 +1,38 @@
+scale 0.5
+robot 30.0 20.0 0.0
+# Building map with an outer ring of rooms surrounding inner rooms and a ring hallway in between
+# Recommend scale = 0.5
+
+#         CX CY Y  W  H
+# Rooms
+region  4 30 20 0 20 12
+
+
+# Room 4: Mess Hall
+# category                  X     Y     Z       ROT    WID   LEN   HGT   R   G   B   # preds
+Pantry                      22.48 24.75 0.00    270   1.70  3.00  3.00               0
+Oven                        30.30 24.75 0.00    270   2.00  3.50  2.00               0
+Fridge                      21.50 19.75 0.02      0   1.70  3.00  4.00               0
+SimObject pizza1            21.70 20.00 1.35      0   0.80  0.80  0.10 255   0   0   2 cylinder color=red1
+Counter                     38.50 22.00 0.00    180   2.00  4.00  1.50               0 
+Sink                        38.50 18.25 1.00    180   2.50  3.45  0.50               0
+Stove                       36.00 15.50 0.00     90   2.00  3.00  1.50 200 200 200   0
+Garbage                     32.00 15.00 0.02     90   1.00  2.00  1.20  80 150  80   0
+Table                       27.00 16.00 0.00     90   3.00  5.00  1.00               1 color=brown1
+Cooler    manual            36.00 25.10 0.01    270   1.20  1.20  2.00               1 temp_id=cooler1
+Button    cooler1           36.00 24.50 1.70      0   0.10  0.10  0.10    0   0 255  1 color=blue1
+
+BoxObject                   38.50 15.50 0.00      0   2.00  2.00  1.50 250 230 140   0
+
+#### Light switches
+#         on/off reg  X     Y     Z     ROT    LEN   WID   HGT   R   G   B   # preds
+LightSwitch on wp04 27.00 25.75 1.00   270   0.50  0.50  0.50               0 
+
+
+##### WALLS
+#     X  Y  X  Y
+# Inner room walls
+wall 20 26 40 26
+wall 40 26 40 14
+wall 40 14 20 14
+wall 20 14 20 26

From 8c1100adcae208588c7fcbbd163d1bd11ba999a1 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 20 Apr 2023 13:56:48 -0400
Subject: [PATCH 30/34] Modified rosie's simulated environment labels

---
 python/rosie/tools/mapmaker/sim_objects.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/python/rosie/tools/mapmaker/sim_objects.py b/python/rosie/tools/mapmaker/sim_objects.py
index 2f05e21345..65edb57202 100644
--- a/python/rosie/tools/mapmaker/sim_objects.py
+++ b/python/rosie/tools/mapmaker/sim_objects.py
@@ -191,7 +191,7 @@ def read_info(self, reader, scale=1.0):
         return self
 
 class Pantry(Shelves):  
-    door = "open"
+    door = "not-open1"
     cat = "pantry1"
 
 class Cupboard(Shelves):  
@@ -258,7 +258,7 @@ class Desk(SimObject):
 
 class LightSwitch(SimObject):  
     sim_class = "soargroup.mobilesim.sim.SimLightSwitch"
-    desc = "LS"
+    desc = "lightswitch"
     cat = "lightswitch1"
     rgb = [ 255, 255, 255 ]
 
@@ -278,7 +278,7 @@ def write_info(self, writer):
 class Button(SimObject):  
     sim_class = "soargroup.mobilesim.sim.SimButton"
     cat = "button1"
-    desc = "btn"
+    desc = "button"
     def read_info(self, reader, scale=1.0):
         # 1 word - the target to trigger when pressed (they must have a temp_id defined)
         self.target = reader.nextWord()

From 0783c3caf41fb896597f5105e6b28a30336893ff Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 20 Apr 2023 13:57:58 -0400
Subject: [PATCH 31/34] Added wait for 30 seconds button

---
 python/rosie/RosieGUI.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index fcb0e20535..9899a33a48 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -118,6 +118,8 @@ def send_combined_message(self, message_type):
 
         if message_type == "done":
             self.combined_message += "You are done"
+        elif message_type == "Wait-Command":
+            self.combined_message += "Wait for thirty seconds"
         else:
             validation_response = self.toggle_enable_send_button()
             if not validation_response[1]:
@@ -454,6 +456,10 @@ def create_widgets(self):
         self.task_done_button = Button(self, text="You are done", font=("Times", "18"))
         self.task_done_button["command"] = lambda: self.send_combined_message("done")
         self.task_done_button.grid(row=9, column=0, rowspan=2, sticky=N+S+E+W)
+
+        self.wait_button = Button(self, text="Wait for thirty seconds", font=("Times", "18"))
+        self.wait_button["command"] = lambda: self.send_combined_message("Wait-Command")
+        self.wait_button.grid(row=9, column=3, rowspan=2, sticky=N+S+E+W)
         
         self.submit_button = Button(self, text="Send", font=("Times", "18"))
         self.submit_button["command"] = lambda: self.send_combined_message("")

From 2a51831ee02f2f9ee42e392996060b278fb34e88 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Thu, 20 Apr 2023 14:04:00 -0400
Subject: [PATCH 32/34] Final parts of speech for formative study

---
 python/rosie/parts-of-speech-lists/nouns.txt      |  9 +++++----
 .../rosie/parts-of-speech-lists/object-states.txt |  9 +--------
 .../rosie/parts-of-speech-lists/prepositions.txt  |  4 ++--
 python/rosie/parts-of-speech-lists/verbs.txt      | 15 +++++++--------
 4 files changed, 15 insertions(+), 22 deletions(-)

diff --git a/python/rosie/parts-of-speech-lists/nouns.txt b/python/rosie/parts-of-speech-lists/nouns.txt
index ede8983105..a47dc3b0ff 100644
--- a/python/rosie/parts-of-speech-lists/nouns.txt
+++ b/python/rosie/parts-of-speech-lists/nouns.txt
@@ -1,11 +1,12 @@
 table
-plate
-ketchup
 lightswitch
 fridge
 garbage
 stove
 sink
 counter
-kitchen
-messhall
\ No newline at end of file
+pantry
+pizza
+oven
+watercooler
+button
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/object-states.txt b/python/rosie/parts-of-speech-lists/object-states.txt
index 0028a8e3ee..49423b6858 100644
--- a/python/rosie/parts-of-speech-lists/object-states.txt
+++ b/python/rosie/parts-of-speech-lists/object-states.txt
@@ -2,11 +2,4 @@ on
 off
 open
 closed
-empty
-available
-filled
-free
-full
-clear
-present
-visible
\ No newline at end of file
+empty
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/prepositions.txt b/python/rosie/parts-of-speech-lists/prepositions.txt
index 457156a258..328265c1f5 100644
--- a/python/rosie/parts-of-speech-lists/prepositions.txt
+++ b/python/rosie/parts-of-speech-lists/prepositions.txt
@@ -1,7 +1,7 @@
 from
+for
 in
 into
 on
 onto
-to
-with
\ No newline at end of file
+to
\ No newline at end of file
diff --git a/python/rosie/parts-of-speech-lists/verbs.txt b/python/rosie/parts-of-speech-lists/verbs.txt
index 0a16c5b964..82574e7a18 100644
--- a/python/rosie/parts-of-speech-lists/verbs.txt
+++ b/python/rosie/parts-of-speech-lists/verbs.txt
@@ -1,28 +1,29 @@
 APPROACH
+bake
 bring
 carry
 clean
 clear
 CLOSE
+cook
 deliver
-DRIVE
 empty
-FACE
 fetch
 FIND
 get
 GIVE
-GO TO
+heat
 grab
-inspect
 keep
+make
 move
 OPEN
 PICK UP
 POUR
 PRESS
-put
+PUT
 PUT DOWN
+prepare
 refrigerate
 SCAN
 shut
@@ -30,7 +31,5 @@ start
 STOP
 store
 take
-TURN
 TURN OFF
-TURN ON
-USE
\ No newline at end of file
+TURN ON
\ No newline at end of file

From 65e7a35ee20061cc6d84e9757609eb43553b1400 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Mon, 24 Apr 2023 17:05:17 -0400
Subject: [PATCH 33/34] Modified examples and row/column text arrangements

---
 python/rosie/RosieGUI.py | 142 ++++++++++++++++++---------------------
 1 file changed, 67 insertions(+), 75 deletions(-)

diff --git a/python/rosie/RosieGUI.py b/python/rosie/RosieGUI.py
index 9899a33a48..c49b0dde28 100644
--- a/python/rosie/RosieGUI.py
+++ b/python/rosie/RosieGUI.py
@@ -75,7 +75,7 @@ def __init__(self, rosie_client, master):
         self.create_widgets()
         self.setup_rosie_client()
 
-        master.geometry("1366x768")
+        master.geometry("1280x720")
         master.protocol("WM_DELETE_WINDOW", self.on_exit)
 
     def setup_rosie_client(self):
@@ -246,15 +246,13 @@ def create_widgets(self):
         self.columnconfigure(4, weight=1, minsize=150)
         self.columnconfigure(5, weight=1, minsize=150)
         self.rowconfigure(0, weight=1, minsize=25)
-        self.rowconfigure(1, weight=20, minsize=300)
+        self.rowconfigure(1, weight=20, minsize=250)
         self.rowconfigure(2, weight=2, minsize=50)
         self.rowconfigure(3, weight=2, minsize=50)
 
-        # Action Templates 1 and 2
+        # Action and Goal Templates 1 and 2
         self.rowconfigure(4, weight=2, minsize=30)
         self.rowconfigure(5, weight=2, minsize=30)
-
-        # Goal Templates 1 and 2
         self.rowconfigure(6, weight=2, minsize=30)
         self.rowconfigure(7, weight=2, minsize=30)
         self.rowconfigure(8, weight=2, minsize=30)
@@ -276,19 +274,11 @@ def create_widgets(self):
         # Row 1: Message History (Col 0-4)
         self.messages_list = RosieGUI.MessagesList(self)
         self.messages_list.grid(row=1, column=0, columnspan=7, sticky=N+S+E+W)
-
-        # Old Row 1: Script Messages (Col 5-7)
-        # print("AGENT MESSAGES")
-        # print(self.rosie_client.messages)
-        # self.script_list = RosieGUI.ScriptList(self, self.rosie_client.messages)
-        # self.script_list.click_handler = lambda msg: self.send_message_to_rosie(msg)
-        # self.script_list.grid(row=1, column=4, columnspan=4, sticky=N+S+E+W)
-
         
-        # Row 2: Buttons to enable/disable template inputs (Col 1-4)
+        # Row 2: Buttons to enable/disable template inputs (Col 0-5)
         self.last_selected_option = -1
 
-        self.enable_at1_button = Button(self, text="Ask robot to do something:\n Action + Object\n\"Turn on the alarm\"", font=("Times", "15"), padx=10)
+        self.enable_at1_button = Button(self, text="Ask robot to do something:\n Action + Object\n\"Empty the garbage\"", font=("Times", "15"), padx=10)
         self.enable_at1_button["command"] = lambda: self.enable_template_input(0)
         self.enable_at1_button.grid(row=2, column=0, rowspan=2, sticky=N+S+E+W)
 
@@ -296,163 +286,165 @@ def create_widgets(self):
         self.enable_at2_button["command"] = lambda: self.enable_template_input(1)
         self.enable_at2_button.grid(row=2, column=1, rowspan=2, columnspan=2, sticky=N+S+E+W)
  
-        self.enable_gt1_button = Button(self, state=DISABLED, text="Provide desired world state\nfor robot to achieve:\nObject + Linking-verb + Object State\n\"The alarm is on\"", font=("Times", "15"), padx=10)
+        self.enable_gt1_button = Button(self, state=DISABLED, text="Provide desired world state\nfor robot to achieve:\nObject + Linking-verb + Object State\n\"The garbage is empty\"", font=("Times", "15"), padx=10)
         self.enable_gt1_button["command"] = lambda: self.enable_template_input(2)
         self.enable_gt1_button.grid(row=2, column=3, rowspan=2, sticky=N+S+E+W)
  
-        self.enable_gt2_button = Button(self, state=DISABLED, text="Provide desired world state\nfor robot to achieve:\n Object1 + Linking-verb + Prep + Object2\n\"The extinguisher is in the office\"", font=("Times", "15"), padx=10)
+        self.enable_gt2_button = Button(self, state=DISABLED, text="Provide desired world state\nfor robot to achieve:\n Object1 + Linking-verb + Prep + Object2\n\"The coffee is on the counter\"", font=("Times", "15"), padx=10)
         self.enable_gt2_button["command"] = lambda: self.enable_template_input(3)
         self.enable_gt2_button.grid(row=2, column=4, rowspan=2, columnspan=2, sticky=N+S+E+W)
         
 
-        # Row 3-8: Action and Goal Template Labels and Text Entries 
+        # Row 4-8: Action and Goal Template Labels and Text Entries
 
-        # Row 3-4: Action Template 1 Labels (Col 0-1)
+        # Action Template 1 (Col 0-2)
         action_template1_label_list = []
         label1_et1 = Label(self, text="Action", font=("Times", "14"))
-        label1_et1.grid(row=5, column=0, columnspan=1)
-        label1_et2 = Label(self, text="Turn on", font=("Times", "15", "italic"))
-        label1_et2.grid(row=6, column=0, columnspan=1)
+        label1_et1.grid(row=4, column=0, columnspan=1)
+        label1_et2 = Label(self, text="Empty", font=("Times", "15", "italic"))
+        label1_et2.grid(row=5, column=0, columnspan=1)
         label1_et3 = Label(self, text="Object", font=("Times", "14"))
-        label1_et3.grid(row=5, column=2, columnspan=1)
-        label1_et4 = Label(self, text="alarm", font=("Times", "15", "italic"))
-        label1_et4.grid(row=6, column=2, columnspan=1)
-        
+        label1_et3.grid(row=4, column=2, columnspan=1)
+        label1_et4 = Label(self, text="garbage", font=("Times", "15", "italic"))
+        label1_et4.grid(row=5, column=2, columnspan=1)
+
         # Default "the" labels
         label1_et5 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
-        label1_et5.grid(row=7, column=1, columnspan=1)
+        label1_et5.grid(row=6, column=1, columnspan=1)
         action_template1_label_list.extend([label1_et1,label1_et2,label1_et3,label1_et4,label1_et5])
         self.listbox_entry_labels.append(action_template1_label_list)
 
-        # Row 5: Action Template 1 Text Input (Col 0-1)
+        # Row 6-8: Action Template 1 Text Input (Col 0-2)
         action_template1_list = []
         for i in range(0,3):
             if i==1:
                 continue
             else:
                 listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-                listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+                listbox_entry.grid(row=6, column=i, rowspan=3, sticky=N+S+E+W)
 
                 action_template1_list.append(listbox_entry)
         self.listbox_entries.append(action_template1_list)
 
         
-        # Row 3-4: Action Template 2 Labels (Col 0-3)
+        # Action Template 2 (Col 0-3)
         action_template2_label_list = []
         label2_et1 = Label(self, text="Action", font=("Times", "14"))
-        label2_et1.grid(row=5, column=0, columnspan=1)
+        label2_et1.grid(row=4, column=0, columnspan=1)
         label2_et2 = Label(self, text="Fetch", font=("Times", "15", "italic"))
-        label2_et2.grid(row=6, column=0, columnspan=1)
+        label2_et2.grid(row=5, column=0, columnspan=1)
         label2_et3 = Label(self, text="Object1", font=("Times", "14"))
-        label2_et3.grid(row=5, column=2, columnspan=1)
+        label2_et3.grid(row=4, column=2, columnspan=1)
         label2_et4 = Label(self, text="coffee", font=("Times", "15", "italic"))
-        label2_et4.grid(row=6, column=2, columnspan=1)
+        label2_et4.grid(row=5, column=2, columnspan=1)
         label2_et5 = Label(self, text="Preposition", font=("Times", "14"))
-        label2_et5.grid(row=5, column=3, columnspan=1)
+        label2_et5.grid(row=4, column=3, columnspan=1)
         label2_et6 = Label(self, text="from", font=("Times", "15", "italic"))
-        label2_et6.grid(row=6, column=3, columnspan=1)
+        label2_et6.grid(row=5, column=3, columnspan=1)
         label2_et7 = Label(self, text="Object2", font=("Times", "14"))
-        label2_et7.grid(row=5, column=5, columnspan=1)
+        label2_et7.grid(row=4, column=5, columnspan=1)
         label2_et8 = Label(self, text="kitchen", font=("Times", "15", "italic"))
-        label2_et8.grid(row=6, column=5, columnspan=1)
-        
+        label2_et8.grid(row=5, column=5, columnspan=1)
+
          # Default "the" labels
         label2_et9 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
-        label2_et9.grid(row=7, column=1, columnspan=1)
+        label2_et9.grid(row=6, column=1, columnspan=1)
         label2_et10 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
-        label2_et10.grid(row=7, column=4, columnspan=1)
+        label2_et10.grid(row=6, column=4, columnspan=1)
         for i in range(1,11):
             action_template2_label_list.append(locals()["label2_et" + str(i)])
         self.listbox_entry_labels.append(action_template2_label_list)
         
-        # Row 5: Action Template 2 Text Input (Col 0-3)
+        # Row 6-8: Action Template 2 Text Input (Col 0-5)
         action_template2_list = []
         for i in range(0,6):
             if i in (1,4):
                 continue
             else:
                 listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-                listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+                listbox_entry.grid(row=6, column=i, rowspan=3, sticky=N+S+E+W)
                 action_template2_list.append(listbox_entry)        
         self.listbox_entries.append(action_template2_list)
 
 
-        # Row 6-8: Goal Template 1
+        # Goal Template 1 (Col 0-3)
         goal_template1_label_list = []
-        # Goal Template 1 - Chat Entry Default Label
+
+        # Goal Template 1 - Default Goal Label
         goal_label1_et1 = Label(self, text="The goal is that the\n\n\n\n\n", font=("Times", "15"))
-        goal_label1_et1.grid(row=7, column=0, columnspan=1)
+        goal_label1_et1.grid(row=6, column=0, columnspan=1)
 
         # Goal Template 1 Labels (Col 1-3)
         goal_label1_et2 = Label(self, text="Object", font=("Times", "14"))
-        goal_label1_et2.grid(row=5, column=1, columnspan=1)
-        goal_label1_et3 = Label(self, text="alarm", font=("Times", "15", "italic"))
-        goal_label1_et3.grid(row=6, column=1, columnspan=1)
+        goal_label1_et2.grid(row=4, column=1, columnspan=1)
+        goal_label1_et3 = Label(self, text="garbage", font=("Times", "15", "italic"))
+        goal_label1_et3.grid(row=5, column=1, columnspan=1)
         goal_label1_et4 = Label(self, text="Linking-verb", font=("Times", "14"))
-        goal_label1_et4.grid(row=5, column=2, columnspan=1)
+        goal_label1_et4.grid(row=4, column=2, columnspan=1)
         goal_label1_et5 = Label(self, text="is", font=("Times", "15", "italic"))
-        goal_label1_et5.grid(row=6, column=2, columnspan=1)
+        goal_label1_et5.grid(row=5, column=2, columnspan=1)
         goal_label1_et6 = Label(self, text="Object State", font=("Times", "14"))
-        goal_label1_et6.grid(row=5, column=3, columnspan=1)
-        goal_label1_et7 = Label(self, text="on", font=("Times", "15", "italic"))
-        goal_label1_et7.grid(row=6, column=3, columnspan=1)
+        goal_label1_et6.grid(row=4, column=3, columnspan=1)
+        goal_label1_et7 = Label(self, text="empty", font=("Times", "15", "italic"))
+        goal_label1_et7.grid(row=5, column=3, columnspan=1)
         
         for i in range(1,8):
             goal_template1_label_list.append(locals()["goal_label1_et" + str(i)])
         self.listbox_entry_labels.append(goal_template1_label_list)
 
-        # Row 8: Goal Template 1 Text Input (Col 1-3)
+        # Row 6-8: Goal Template 1 Text Input (Col 1-3)
         goal_template1_list = []
         for i in range(1,4):
             listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-            listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+            listbox_entry.grid(row=6, column=i, rowspan=3, sticky=N+S+E+W)
             goal_template1_list.append(listbox_entry)
         self.listbox_entries.append(goal_template1_list)  
 
 
-        # Row 6-8: Goal Template 2
+        # Goal Template 2 (Col 0-3)
         goal_template2_label_list = []
-        # Goal Template 2 - Chat Entry Default Labels
+        # Goal Template 2 - Default Goal Label
         goal_label2_et1 = Label(self, text="The goal is that the\n\n\n\n\n", font=("Times", "15"))
-        goal_label2_et1.grid(row=7, column=0, columnspan=1)        
+        goal_label2_et1.grid(row=6, column=0, columnspan=1)
+        # Default "the" labels
         goal_label2_et2 = Label(self, text="the\n\n\n\n\n\n", font=("Arial", "14"))
-        goal_label2_et2.grid(row=7, column=4, columnspan=1)
+        goal_label2_et2.grid(row=6, column=4, columnspan=1)
 
-        # Goal Template 2 Labels (Col 1-3)
+        # Goal Template 2 Labels (Col 1-5)
         goal_label2_et3 = Label(self, text="Object1", font=("Times", "14"))
-        goal_label2_et3.grid(row=5, column=1, columnspan=1)
-        goal_label2_et4 = Label(self, text="extinguisher", font=("Times", "15", "italic"))
-        goal_label2_et4.grid(row=6, column=1, columnspan=1)
+        goal_label2_et3.grid(row=4, column=1, columnspan=1)
+        goal_label2_et4 = Label(self, text="coffee", font=("Times", "15", "italic"))
+        goal_label2_et4.grid(row=5, column=1, columnspan=1)
         goal_label2_et5 = Label(self, text="Linking-verb", font=("Times", "14"))
-        goal_label2_et5.grid(row=5, column=2, columnspan=1)
+        goal_label2_et5.grid(row=4, column=2, columnspan=1)
         goal_label2_et6 = Label(self, text="is", font=("Times", "15", "italic"))
-        goal_label2_et6.grid(row=6, column=2, columnspan=1)
+        goal_label2_et6.grid(row=5, column=2, columnspan=1)
         goal_label2_et7 = Label(self, text="Preposition", font=("Times", "14"))
-        goal_label2_et7.grid(row=5, column=3, columnspan=1)
-        goal_label2_et8 = Label(self, text="in", font=("Times", "15", "italic"))
-        goal_label2_et8.grid(row=6, column=3, columnspan=1)
+        goal_label2_et7.grid(row=4, column=3, columnspan=1)
+        goal_label2_et8 = Label(self, text="on", font=("Times", "15", "italic"))
+        goal_label2_et8.grid(row=5, column=3, columnspan=1)
         goal_label2_et9 = Label(self, text="Object2", font=("Times", "14"))
-        goal_label2_et9.grid(row=5, column=5, columnspan=1)
-        goal_label2_et10 = Label(self, text="office", font=("Times", "15", "italic"))
-        goal_label2_et10.grid(row=6, column=5, columnspan=1)
+        goal_label2_et9.grid(row=4, column=5, columnspan=1)
+        goal_label2_et10 = Label(self, text="counter", font=("Times", "15", "italic"))
+        goal_label2_et10.grid(row=5, column=5, columnspan=1)
         
         for i in range(1,11):
             goal_template2_label_list.append(locals()["goal_label2_et" + str(i)])
         self.listbox_entry_labels.append(goal_template2_label_list)
 
-        # Row 8: Goal Template 2 Text Input (Col 1-4)
+        # Row 6-8: Goal Template 2 Text Input (Col 1-5)
         goal_template2_list = []    
         for i in range(1,6):
             if i==4:
                 continue
             else:
                 listbox_entry = AutocompleteEntryListbox(self, font=("Arial", "12"))
-                listbox_entry.grid(row=7, column=i, columnspan=1, sticky=N+S+E+W)
+                listbox_entry.grid(row=6, column=i, rowspan=3, sticky=N+S+E+W)
                 goal_template2_list.append(listbox_entry)
         self.listbox_entries.append(goal_template2_list)
 
         
-        # Row 9: "You are done" message (Col 0) and Send Button (Col 5)
+        # Row 9: "You are done" message (Col 0), Wait Button (Col 3), and Send Button (Col 5)
         self.task_done_button = Button(self, text="You are done", font=("Times", "18"))
         self.task_done_button["command"] = lambda: self.send_combined_message("done")
         self.task_done_button.grid(row=9, column=0, rowspan=2, sticky=N+S+E+W)

From 0c24e3eccb760cbd3ed69689b6d6df6e1b473507 Mon Sep 17 00:00:00 2001
From: Preeti Ramaraj <preetir@umich.edu>
Date: Fri, 15 Sep 2023 10:31:15 -0400
Subject: [PATCH 34/34] Adding pizza and bake and changes to source-rosie-env

---
 agent/init-smem/actions.soar                       | 6 ++++++
 agent/init-smem/category-ontology.txt              | 3 ++-
 agent/language-comprehension/smem-words/verbs.soar | 4 ++++
 python/rosie/tools/mapmaker/sim_objects.py         | 1 +
 source-rosie-env.sh                                | 5 +++++
 5 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/agent/init-smem/actions.soar b/agent/init-smem/actions.soar
index 09e26797b3..f4993db29b 100644
--- a/agent/init-smem/actions.soar
+++ b/agent/init-smem/actions.soar
@@ -797,6 +797,12 @@ smem --add {
 smem --add {
    (@carry1 ^handle carry1 ^item-type action)
 }
+
+### +@bake1 [145]
+smem --add {
+   (@bake1 ^handle bake1 ^item-type action)
+}
+
 #!#############################################################################################
 #!#############################################################################################
 #! Driving Actions
diff --git a/agent/init-smem/category-ontology.txt b/agent/init-smem/category-ontology.txt
index b5aaae572b..3b354e8d4b 100644
--- a/agent/init-smem/category-ontology.txt
+++ b/agent/init-smem/category-ontology.txt
@@ -62,7 +62,8 @@ template category _HANDLE_ _WORD_ _SUPER_ _AFFORDANCE_* {
 					mustard1 mustard condiment1
 					salt1 salt condiment1
 					pepper1 pepper condiment1
-			box1 box object grabbable1
+				pizza1 pizza food1
+			box1 box object grabbable1 openable1 receptacle1
 			ball1 ball object grabbable1
 			book1 book object grabbable1
 			button1 button object pressable1
diff --git a/agent/language-comprehension/smem-words/verbs.soar b/agent/language-comprehension/smem-words/verbs.soar
index 3b8a5f328e..47e22c0509 100644
--- a/agent/language-comprehension/smem-words/verbs.soar
+++ b/agent/language-comprehension/smem-words/verbs.soar
@@ -658,6 +658,10 @@ smem --add {
            (<refrigerate> ^spelling |refrigerate|
                    ^referent @refrigerate1
                    ^super-type @60998)
+
+           (<bake> ^spelling |bake|
+                   ^referent @bake1
+                   ^super-type @60998)
             
 }
 
diff --git a/python/rosie/tools/mapmaker/sim_objects.py b/python/rosie/tools/mapmaker/sim_objects.py
index 65edb57202..f441a1adc3 100644
--- a/python/rosie/tools/mapmaker/sim_objects.py
+++ b/python/rosie/tools/mapmaker/sim_objects.py
@@ -227,6 +227,7 @@ class Kettle(SimObject):
 
 class Cooler(SimObject):  
     sim_class = "soargroup.mobilesim.sim.SimCooler"
+    desc = "watercooler"
     cat = "cooler1"
     rgb = [ 0, 0, 0 ]
 
diff --git a/source-rosie-env.sh b/source-rosie-env.sh
index 331145785e..c0983e4890 100644
--- a/source-rosie-env.sh
+++ b/source-rosie-env.sh
@@ -66,6 +66,11 @@ complete -F _task_tests_completion run_task_learning_tests
 alias run_rosie_example="$ROSIE_HOME/tools/scripts/run_rosie_example.sh"
 complete -F _rosie_examples_completion run_rosie_example
 
+###refresh_mobile_sim_world <example-name>
+# Regenerates mobile sim world of one of the examples in python/rosie/example
+alias refresh_mobile_sim_world="$ROSIE_HOME/tools/scripts/refresh_mobile_sim_world.sh"
+complete -F _rosie_examples_completion refresh_mobile_sim_world
+
 
 ###### Other Useful Scripts ######