start_state([location(chute),dusty(o1),dusty(o2),trashy(o1),vacuumable(o2)]).
goalstate([location(o1)]).
piece_eval(dusty(o1),6).
piece_eval(dusty(o2),6).
piece_eval(vacuumable(o1),10).
piece_eval(vacuumable(o2),10).
piece_eval(trashy(o1),8).
piece_eval(trashy(o2),8).
piece_eval(holding(o1),1).
piece_eval(holding(o2),1).
piece_cost(vacuum(o1),10).
piece_cost(vacuum(o2),10).
piece_cost(dust(o1),6).
piece_cost(dust(o2),6).
piece_cost(pickup(o1),3).
piece_cost(pickup(o2),3).
piece_cost(dispose(o1),5).
piece_cost(dispose(o2),5).
piece_cost(putdown(o1),1).
piece_cost(putdown(o2),1).
piece_cost(go(o1,o2),3).
piece_cost(go(o2,o1),3).
piece_cost(go(o1,chute),8).
piece_cost(go(chute,o1),8).
piece_cost(go(o2,chute),8).
piece_cost(go(chute,o2),8).
recommended([not(dusty(o1))],dust(o1)).
recommended([not(dusty(o2))],dust(o2)).
recommended([not(vacuumable(o1))],vacuum(o1)).
recommended([not(vacuumable(o2))],vacuum(o2)).
recommended([not(trashy(o1))],dispose(o1)).
recommended([not(trashy(o2))],dispose(o2)).
recommended([holding(o1)],pickup(o1)).
recommended([holding(o2)],pickup(o2)).
recommended([not(holding(o1))],putdown(o1)).
recommended([not(holding(o2))],putdown(o2)).
recommended([location(o1)],go(o2,o1)).
recommended([location(o1)],go(chute,o1)).
recommended([location(o2)],go(o1,o2)).
recommended([location(o2)],go(chute,o2)).
precondition(dust(o1),[location(o1),dusty(o1),not(holding(o1)),not(holding(o2))]).
precondition(dust(o2),[location(o2),dusty(o2),not(holding(o1)),not(holding(o2))]).
precondition(vacuum(o1),[location(o1),vacuumable(o1),not(dusty(o1)), 
  not(holding(o1)),not(holding(o2))]).
precondition(vacuum(o2),[location(o2),vacuumable(o2),not(dusty(o2)), 
  not(holding(o1)),not(holding(o2))]).
precondition(dispose(o1),[location(chute),trashy(o1),holding(o1),
   not(dusty(o1)),not(vacuumable(o1))]).
precondition(dispose(o2),[location(chute),trashy(o2),holding(o2),
   not(dusty(o2)),not(vacuumable(o2))]).
precondition(pickup(o1),[location(o1),trashy(o1),not(holding(o1))]).
precondition(pickup(o2),[location(o2),trashy(o2),not(holding(o2))]).
precondition(putdown(o1),[location(o1),holding(o1),not(trashy(o1))]).
precondition(putdown(o2),[location(o2),holding(o2),not(trashy(o2))]).
precondition(go(o1,o2),[location(o1)]). 
precondition(go(o2,o1),[location(o2)]). 
precondition(go(o1,chute),[location(o1)]). 
precondition(go(o2,chute),[location(o2)]). 
precondition(go(chute,o1),[location(chute)]). 
precondition(go(chute,o2),[location(chute)]). 
deletepostcondition(dust(o1),[dusty(o1)]).
deletepostcondition(dust(o2),[dusty(o2)]).
deletepostcondition(vacuum(o1),[vacuumable(o1)]).
deletepostcondition(vacuum(o2),[vacuumable(o2)]).
deletepostcondition(dispose(o1),[trashy(o1)]).
deletepostcondition(dispose(o2),[trashy(o2)]).
deletepostcondition(dispose(o1),[trashy(o1)]).
deletepostcondition(dispose(o2),[trashy(o2)]).
deletepostcondition(pickup(o1),[]).
deletepostcondition(pickup(o2),[]).
deletepostcondition(putdown(o1),[holding(o1)]).
deletepostcondition(putdown(o2),[holding(o2)]).
deletepostcondition(go(o1,o2),[location(o1)]). 
deletepostcondition(go(o1,chute),[location(o1)]). 
deletepostcondition(go(o2,o1),[location(o2)]). 
deletepostcondition(go(o2,chute),[location(o2)]). 
deletepostcondition(go(chute,o1),[location(chute)]). 
deletepostcondition(go(chute,o2),[location(chute)]). 
addpostcondition(dust(o1),[vacuumable(o1)]).
addpostcondition(dust(o2),[vacuumable(o2)]).
addpostcondition(vacuum(o1),[trashy(o1)]).
addpostcondition(vacuum(o2),[trashy(o2)]).
addpostcondition(dispose(o1),[]).
addpostcondition(dispose(o2),[]).
addpostcondition(pickup(o1),[holding(o1)]).
addpostcondition(pickup(o2),[holding(o2)]).
addpostcondition(putdown(o1),[]).
addpostcondition(putdown(o2),[]).
addpostcondition(go(o2,o1),[location(o1)]).
addpostcondition(go(chute,o1),[location(o1)]).
addpostcondition(go(o1,o2),[location(o2)]).
addpostcondition(go(chute,o2),[location(o2)]).
addpostcondition(go(o1,chute),[location(chute)]).
addpostcondition(go(o2,chute),[location(chute)]).