Root:0-1- === Tarea:0 (:method m_deliver_ordering_0 :precondition (and (type_member_location city_loc_1) (type_member_location city_loc_0) (type_member_package package_0) (type_member_vehicle truck_0) ) :tasks ( (get_to truck_0 city_loc_1) (load truck_0 city_loc_1 package_0) (get_to truck_0 city_loc_0) (unload truck_0 city_loc_0 package_0) ) ) === Tarea:2 (:method m_drive_to_ordering_0 :precondition (and (type_member_location city_loc_2) (type_member_location city_loc_1) (type_member_vehicle truck_0) ) :tasks ( (drive truck_0 city_loc_2 city_loc_1) ) ) === Tarea:6 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_2) (type_member_location city_loc_1) ) :tasks ( (drive_primitive truck_0 city_loc_2 city_loc_1) ) ) === Tarea:7 === Tarea:3 (:method m_load_ordering_0 :precondition (and (type_member_location city_loc_1) (type_member_package package_0) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) (type_member_vehicle truck_0) ) :tasks ( (pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1) ) ) === Tarea:9 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_1) (type_member_package package_0) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) ) :tasks ( (pick_up_primitive truck_0 city_loc_1 package_0 capacity_0 capacity_1) ) ) === Tarea:10 === Tarea:4 (:method m_drive_to_ordering_0 :precondition (and (type_member_location city_loc_1) (type_member_location city_loc_0) (type_member_vehicle truck_0) ) :tasks ( (drive truck_0 city_loc_1 city_loc_0) ) ) === Tarea:12 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_1) (type_member_location city_loc_0) ) :tasks ( (drive_primitive truck_0 city_loc_1 city_loc_0) ) ) === Tarea:13 === Tarea:5 (:method m_unload_ordering_0 :precondition (and (type_member_location city_loc_0) (type_member_package package_0) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) (type_member_vehicle truck_0) ) :tasks ( (drop truck_0 city_loc_0 package_0 capacity_0 capacity_1) ) ) === Tarea:15 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_0) (type_member_package package_0) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) ) :tasks ( (drop_primitive truck_0 city_loc_0 package_0 capacity_0 capacity_1) ) ) === Tarea:16 === Tarea:1 (:method m_deliver_ordering_0 :precondition (and (type_member_location city_loc_1) (type_member_location city_loc_2) (type_member_package package_1) (type_member_vehicle truck_0) ) :tasks ( (get_to truck_0 city_loc_1) (load truck_0 city_loc_1 package_1) (get_to truck_0 city_loc_2) (unload truck_0 city_loc_2 package_1) ) ) === Tarea:18 (:method m_drive_to_ordering_0 :precondition (and (type_member_location city_loc_0) (type_member_location city_loc_1) (type_member_vehicle truck_0) ) :tasks ( (drive truck_0 city_loc_0 city_loc_1) ) ) === Tarea:22 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_0) (type_member_location city_loc_1) ) :tasks ( (drive_primitive truck_0 city_loc_0 city_loc_1) ) ) === Tarea:23 === Tarea:19 (:method m_load_ordering_0 :precondition (and (type_member_location city_loc_1) (type_member_package package_1) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) (type_member_vehicle truck_0) ) :tasks ( (pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1) ) ) === Tarea:25 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_1) (type_member_package package_1) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) ) :tasks ( (pick_up_primitive truck_0 city_loc_1 package_1 capacity_0 capacity_1) ) ) === Tarea:26 === Tarea:20 (:method m_drive_to_ordering_0 :precondition (and (type_member_location city_loc_1) (type_member_location city_loc_2) (type_member_vehicle truck_0) ) :tasks ( (drive truck_0 city_loc_1 city_loc_2) ) ) === Tarea:28 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_1) (type_member_location city_loc_2) ) :tasks ( (drive_primitive truck_0 city_loc_1 city_loc_2) ) ) === Tarea:29 === Tarea:21 (:method m_unload_ordering_0 :precondition (and (type_member_location city_loc_2) (type_member_package package_1) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) (type_member_vehicle truck_0) ) :tasks ( (drop truck_0 city_loc_2 package_1 capacity_0 capacity_1) ) ) === Tarea:31 (:method method1 :precondition (and (type_member_vehicle truck_0) (type_member_location city_loc_2) (type_member_package package_1) (type_member_capacity_number capacity_0) (type_member_capacity_number capacity_1) ) :tasks ( (drop_primitive truck_0 city_loc_2 package_1 capacity_0 capacity_1) ) ) === Tarea:32 === ?v <- truck_0 ?l1 <- city_loc_1 ?l1 <- city_loc_2 ?s2 <- capacity_1 ?s1 <- capacity_0 ?l1 <- city_loc_1 ?s2 <- capacity_1 ?s1 <- capacity_0 ?v <- truck_0 ?l1 <- city_loc_1 ?l1 <- city_loc_0 ?s2 <- capacity_1 ?s1 <- capacity_0 ?l1 <- city_loc_1 ?s2 <- capacity_1 ?s1 <- capacity_0 === Lista de tareas: [0] :unexpanded (deliver package_0 city_loc_0) [1] :unexpanded (deliver package_1 city_loc_2) [2] :unexpanded (get_to truck_0 city_loc_1) [3] :unexpanded (load truck_0 city_loc_1 package_0) [4] :unexpanded (get_to truck_0 city_loc_0) [5] :unexpanded (unload truck_0 city_loc_0 package_0) [6] :unexpanded (drive truck_0 city_loc_2 city_loc_1) [7] :unexpanded (drive_primitive truck_0 city_loc_2 city_loc_1) [8] :action (drive_primitive truck_0 city_loc_2 city_loc_1) [9] :unexpanded (pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1) [10] :unexpanded (pick_up_primitive truck_0 city_loc_1 package_0 capacity_0 capacity_1) [11] :action (pick_up_primitive truck_0 city_loc_1 package_0 capacity_0 capacity_1) [12] :unexpanded (drive truck_0 city_loc_1 city_loc_0) [13] :unexpanded (drive_primitive truck_0 city_loc_1 city_loc_0) [14] :action (drive_primitive truck_0 city_loc_1 city_loc_0) [15] :unexpanded (drop truck_0 city_loc_0 package_0 capacity_0 capacity_1) [16] :unexpanded (drop_primitive truck_0 city_loc_0 package_0 capacity_0 capacity_1) [17] :action (drop_primitive truck_0 city_loc_0 package_0 capacity_0 capacity_1) [18] :unexpanded (get_to truck_0 city_loc_1) [19] :unexpanded (load truck_0 city_loc_1 package_1) [20] :unexpanded (get_to truck_0 city_loc_2) [21] :unexpanded (unload truck_0 city_loc_2 package_1) [22] :unexpanded (drive truck_0 city_loc_0 city_loc_1) [23] :unexpanded (drive_primitive truck_0 city_loc_0 city_loc_1) [24] :action (drive_primitive truck_0 city_loc_0 city_loc_1) [25] :unexpanded (pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1) [26] :unexpanded (pick_up_primitive truck_0 city_loc_1 package_1 capacity_0 capacity_1) [27] :action (pick_up_primitive truck_0 city_loc_1 package_1 capacity_0 capacity_1) [28] :unexpanded (drive truck_0 city_loc_1 city_loc_2) [29] :unexpanded (drive_primitive truck_0 city_loc_1 city_loc_2) [30] :action (drive_primitive truck_0 city_loc_1 city_loc_2) [31] :unexpanded (drop truck_0 city_loc_2 package_1 capacity_0 capacity_1) [32] :unexpanded (drop_primitive truck_0 city_loc_2 package_1 capacity_0 capacity_1) [33] :action (drop_primitive truck_0 city_loc_2 package_1 capacity_0 capacity_1) ### :action (drive_primitive truck_0 city_loc_2 city_loc_1) :action (pick_up_primitive truck_0 city_loc_1 package_0 capacity_0 capacity_1) :action (drive_primitive truck_0 city_loc_1 city_loc_0) :action (drop_primitive truck_0 city_loc_0 package_0 capacity_0 capacity_1) :action (drive_primitive truck_0 city_loc_0 city_loc_1) :action (pick_up_primitive truck_0 city_loc_1 package_1 capacity_0 capacity_1) :action (drive_primitive truck_0 city_loc_1 city_loc_2) :action (drop_primitive truck_0 city_loc_2 package_1 capacity_0 capacity_1) ==> 6 drive truck_0 city_loc_2 city_loc_1 9 pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1 12 drive truck_0 city_loc_1 city_loc_0 15 drop truck_0 city_loc_0 package_0 capacity_0 capacity_1 22 drive truck_0 city_loc_0 city_loc_1 25 pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1 28 drive truck_0 city_loc_1 city_loc_2 31 drop truck_0 city_loc_2 package_1 capacity_0 capacity_1 root 0 1 0 deliver package_0 city_loc_0 -> m_deliver_ordering_0 2 3 4 5 2 get_to truck_0 city_loc_1 -> m_drive_to_ordering_0 6 3 load truck_0 city_loc_1 package_0 -> m_load_ordering_0 9 4 get_to truck_0 city_loc_0 -> m_drive_to_ordering_0 12 5 unload truck_0 city_loc_0 package_0 -> m_unload_ordering_0 15 1 deliver package_1 city_loc_2 -> m_deliver_ordering_0 18 19 20 21 18 get_to truck_0 city_loc_1 -> m_drive_to_ordering_0 22 19 load truck_0 city_loc_1 package_1 -> m_load_ordering_0 25 20 get_to truck_0 city_loc_2 -> m_drive_to_ordering_0 28 21 unload truck_0 city_loc_2 package_1 -> m_unload_ordering_0 31 <==