INITIAL STATE

Array ( [0] => NO,At,Sock,Right [1] => NO,At,Sock,Left )

THE GOAL

Array ( [0] => YES,At,Shoe,Right [1] => YES,At,Shoe,Left )

CURRENT PLAN

Array ( )

YESLIST1

Array ( )

INITIAL STATE

Array ( [0] => NO,At,Sock,Right [1] => NO,At,Sock,Left )

THE GOAL

Array ( [0] => YES,At,Sock,Right [1] => NO,At,Shoe,Right [2] => YES,At,Sock,Left [3] => NO,At,Shoe,Left )

CURRENT PLAN

Array ( [0] => Wear,Shoe,Floor,Right [1] => Wear,Shoe,Floor,Left )

INITIAL STATE

Array ( [0] => NO,At,Sock,Right [1] => NO,At,Sock,Left )

THE GOAL

Array ( [0] => YES,At,Sock,Floor [1] => NO,At,Sock,Right [2] => YES,At,Sock,Floor [3] => NO,At,Sock,Left )

CURRENT PLAN

Array ( [3] => Wear,Sock,Floor,Left [2] => Wear,Sock,Floor,Right [1] => Wear,Shoe,Floor,Left [0] => Wear,Shoe,Floor,Right )

NO,At,Sock,Right is satisfied

NO,At,Sock,Left is satisfied

CURRENT YESLIST

Array ( [0] => ShoeRight )

CURRENT YESLIST

Array ( [0] => ShoeRight [1] => ShoeLeft )

CURRENT YESLIST

Array ( [0] => ShoeRight [1] => ShoeLeft [2] => SockRight )

CURRENT YESLIST

Array ( [0] => ShoeRight [1] => ShoeLeft [2] => SockRight [3] => SockLeft )

Wear,Sock,Floor,Left

Wear,Sock,Floor,Right

Wear,Shoe,Floor,Left

Wear,Shoe,Floor,Right