INFO: underlay of /etc/localtime required more than 50 (76) bind mounts pandaPIparser is configured as follows Colors in output: true Mode: parsing mode Parameter splitting: true Conditional effects: exponential encoding Disjunctive preconditions as HTN: false Replace goal with action: false Output: pandaPI format pandaPIparser is configured as follows Colors in output: true Mode: convert pandaPI plan %TIME 0:00.21 37176 %EXIT 0 pandaPIparser is configured as follows Colors in output: false Mode: plan verification Verbosity: 1 Lenient mode: false Ignore given order: false Reading plan given as input Parse instantiated task from " move c r3 d03" ... done Parsed action id=12 move c r3 d03 Parse instantiated task from " open r3 r1 d13" ... done Parsed action id=26 open r3 r1 d13 Parse instantiated task from " move r3 r1 d13" ... done Parsed action id=36 move r3 r1 d13 Parse instantiated task from " open r1 r2 d12" ... done Parsed action id=57 open r1 r2 d12 Parse instantiated task from " pickup o2 r1" ... done Parsed action id=162 pickup o2 r1 Parse instantiated task from " move r1 r2 d12" ... done Parsed action id=195 move r1 r2 d12 Parse instantiated task from " putdown o2 r2" ... done Parsed action id=209 putdown o2 r2 Parse instantiated task from " move r2 r1 d12" ... done Parsed action id=227 move r2 r1 d12 Parse instantiated task from " pickup o1 r1" ... done Parsed action id=302 pickup o1 r1 Parse instantiated task from " move r1 r3 d13" ... done Parsed action id=317 move r1 r3 d13 Parse instantiated task from " putdown o1 r3" ... done Parsed action id=339 putdown o1 r3 Size of primitive plan: 11 Reading list of integers from " 3" Root tasks (1): 3 Reading plan given as input Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=3 achieve-goals Parsed method name: achieve-goals-move Subtasks: 11 16 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=11 move_abstract Parsed method name: newMethod24 Subtasks: 12 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=16 achieve-goals Parsed method name: achieve-goals-open Subtasks: 25 32 Parse instantiated task from " open_abstract" ... done Parsed abstract task id=25 open_abstract Parsed method name: newMethod25 Subtasks: 26 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=32 achieve-goals Parsed method name: achieve-goals-move Subtasks: 35 46 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=35 move_abstract Parsed method name: newMethod24 Subtasks: 36 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=46 achieve-goals Parsed method name: achieve-goals-open Subtasks: 56 64 Parse instantiated task from " open_abstract" ... done Parsed abstract task id=56 open_abstract Parsed method name: newMethod25 Subtasks: 57 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=64 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 161 172 Parse instantiated task from " pickup_abstract o2" ... done Parsed abstract task id=161 pickup_abstract o2 Parsed method name: newMethod22 Subtasks: 162 Parse instantiated task from " release" ... done Parsed abstract task id=172 release Parsed method name: release-move Subtasks: 194 202 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=194 move_abstract Parsed method name: newMethod24 Subtasks: 195 Parse instantiated task from " release" ... done Parsed abstract task id=202 release Parsed method name: release-putdown_abstract Subtasks: 208 220 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=208 putdown_abstract Parsed method name: newMethod23 Subtasks: 209 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=220 achieve-goals Parsed method name: achieve-goals-move Subtasks: 226 236 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=226 move_abstract Parsed method name: newMethod24 Subtasks: 227 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=236 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 301 304 Parse instantiated task from " pickup_abstract o1" ... done Parsed abstract task id=301 pickup_abstract o1 Parsed method name: newMethod22 Subtasks: 302 Parse instantiated task from " release" ... done Parsed abstract task id=304 release Parsed method name: release-move Subtasks: 316 328 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=316 move_abstract Parsed method name: newMethod24 Subtasks: 317 Parse instantiated task from " release" ... done Parsed abstract task id=328 release Parsed method name: release-putdown_abstract Subtasks: 338 348 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=338 putdown_abstract Parsed method name: newMethod23 Subtasks: 339 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=348 achieve-goals Parsed method name: finished Subtasks: Reached end of input. Checking the given plan ... IDs of subtasks used in the plan exist: true Tasks declared in plan actually exist and can be instantiated as given: true Methods don't contain duplicate subtasks: true Methods don't contain orphaned tasks: true Generating Matchings for task with id=0 Matching Task 3 Curpos=0 #sources=1 Task is: achieve-goals Attempting matching with source task0 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=0 Generating Matchings for task with id=3 Matching Task 11 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 16 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_9 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=3 Generating Matchings for task with id=11 Matching Task 12 Curpos=0 #sources=1 Task is: move c r3 d03 Attempting matching with source __t_id_14 Setting ?loc1 = c Setting ?loc2 = r3 Setting ?d = d03 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=11 Generating Matchings for task with id=16 Matching Task 25 Curpos=0 #sources=1 Task is: open_abstract Attempting matching with source __t_id_10 Matching Task 32 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_11 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=16 Generating Matchings for task with id=25 Matching Task 26 Curpos=0 #sources=1 Task is: open r3 r1 d13 Attempting matching with source __t_id_15 Setting ?loc1 = r3 Setting ?loc2 = r1 Setting ?d = d13 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=25 Generating Matchings for task with id=32 Matching Task 35 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 46 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_9 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=32 Generating Matchings for task with id=35 Matching Task 36 Curpos=0 #sources=1 Task is: move r3 r1 d13 Attempting matching with source __t_id_14 Setting ?loc1 = r3 Setting ?loc2 = r1 Setting ?d = d13 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=35 Generating Matchings for task with id=46 Matching Task 56 Curpos=0 #sources=1 Task is: open_abstract Attempting matching with source __t_id_10 Matching Task 64 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_11 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=46 Generating Matchings for task with id=56 Matching Task 57 Curpos=0 #sources=1 Task is: open r1 r2 d12 Attempting matching with source __t_id_15 Setting ?loc1 = r1 Setting ?loc2 = r2 Setting ?d = d12 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=56 Generating Matchings for task with id=64 Matching Task 161 Curpos=0 #sources=1 Task is: pickup_abstract o2 Attempting matching with source __t_id_6 Setting ?obj = o2 Matching Task 172 Curpos=1 #sources=1 Task is: release Attempting matching with source __t_id_7 Unassigned variable ?loc Contained in method precondition: true Contained in method effect: false Contained in method constraints: false Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=64 Generating Matchings for task with id=161 Matching Task 162 Curpos=0 #sources=1 Task is: pickup o2 r1 Attempting matching with source __t_id_12 Setting ?obj = o2 Setting ?loc = r1 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=161 Generating Matchings for task with id=172 Matching Task 194 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 202 Curpos=1 #sources=1 Task is: release Attempting matching with source __t_id_3 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=172 Generating Matchings for task with id=194 Matching Task 195 Curpos=0 #sources=1 Task is: move r1 r2 d12 Attempting matching with source __t_id_14 Setting ?loc1 = r1 Setting ?loc2 = r2 Setting ?d = d12 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=194 Generating Matchings for task with id=202 Matching Task 208 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 220 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_1 Unassigned variable ?loc Contained in method precondition: true Contained in method effect: false Contained in method constraints: false Unassigned variable ?obj Contained in method precondition: true Contained in method effect: false Contained in method constraints: false Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=202 Generating Matchings for task with id=208 Matching Task 209 Curpos=0 #sources=1 Task is: putdown o2 r2 Attempting matching with source __t_id_13 Setting ?obj = o2 Setting ?loc = r2 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=208 Generating Matchings for task with id=220 Matching Task 226 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 236 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_9 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=220 Generating Matchings for task with id=226 Matching Task 227 Curpos=0 #sources=1 Task is: move r2 r1 d12 Attempting matching with source __t_id_14 Setting ?loc1 = r2 Setting ?loc2 = r1 Setting ?d = d12 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=226 Generating Matchings for task with id=236 Matching Task 301 Curpos=0 #sources=1 Task is: pickup_abstract o1 Attempting matching with source __t_id_6 Setting ?obj = o1 Matching Task 304 Curpos=1 #sources=1 Task is: release Attempting matching with source __t_id_7 Unassigned variable ?loc Contained in method precondition: true Contained in method effect: false Contained in method constraints: false Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=236 Generating Matchings for task with id=301 Matching Task 302 Curpos=0 #sources=1 Task is: pickup o1 r1 Attempting matching with source __t_id_12 Setting ?obj = o1 Setting ?loc = r1 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=301 Generating Matchings for task with id=304 Matching Task 316 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 328 Curpos=1 #sources=1 Task is: release Attempting matching with source __t_id_3 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=304 Generating Matchings for task with id=316 Matching Task 317 Curpos=0 #sources=1 Task is: move r1 r3 d13 Attempting matching with source __t_id_14 Setting ?loc1 = r1 Setting ?loc2 = r3 Setting ?d = d13 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=316 Generating Matchings for task with id=328 Matching Task 338 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 348 Curpos=1 #sources=1 Task is: achieve-goals Attempting matching with source __t_id_1 Unassigned variable ?loc Contained in method precondition: true Contained in method effect: false Contained in method constraints: false Unassigned variable ?obj Contained in method precondition: true Contained in method effect: false Contained in method constraints: false Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=328 Generating Matchings for task with id=338 Matching Task 339 Curpos=0 #sources=1 Task is: putdown o1 r3 Attempting matching with source __t_id_13 Setting ?obj = o1 Setting ?loc = r3 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=338 Generating Matchings for task with id=348 Found compatible linearisation. Checking constants are in variable type ... Checking method's constraint formula ... Checking variable constraints in method's precondition ... Matching is ok. Found 1 matchings for task with id=348 Methods can be instantiated: true Check whether primitive plan is a linearisation of the orderings resulting from applied decomposition methods. Abstract Task id=0 matching still unique: true (1) Attempting matching Abstract Task id=3 matching still unique: true (1) Attempting matching Abstract Task id=11 matching still unique: true (1) Attempting matching Primitive Task id=12 Ordering OK. Abstract Task id=16 matching still unique: true (1) Attempting matching Abstract Task id=25 matching still unique: true (1) Attempting matching Primitive Task id=26 Ordering OK. Abstract Task id=32 matching still unique: true (1) Attempting matching Abstract Task id=35 matching still unique: true (1) Attempting matching Primitive Task id=36 Ordering OK. Abstract Task id=46 matching still unique: true (1) Attempting matching Abstract Task id=56 matching still unique: true (1) Attempting matching Primitive Task id=57 Ordering OK. Abstract Task id=64 matching still unique: true (1) Attempting matching Abstract Task id=161 matching still unique: true (1) Attempting matching Primitive Task id=162 Ordering OK. Abstract Task id=172 matching still unique: true (1) Attempting matching Abstract Task id=194 matching still unique: true (1) Attempting matching Primitive Task id=195 Ordering OK. Abstract Task id=202 matching still unique: true (1) Attempting matching Abstract Task id=208 matching still unique: true (1) Attempting matching Primitive Task id=209 Ordering OK. Abstract Task id=220 matching still unique: true (1) Attempting matching Abstract Task id=226 matching still unique: true (1) Attempting matching Primitive Task id=227 Ordering OK. Abstract Task id=236 matching still unique: true (1) Attempting matching Abstract Task id=301 matching still unique: true (1) Attempting matching Primitive Task id=302 Ordering OK. Abstract Task id=304 matching still unique: true (1) Attempting matching Abstract Task id=316 matching still unique: true (1) Attempting matching Primitive Task id=317 Ordering OK. Abstract Task id=328 matching still unique: true (1) Attempting matching Abstract Task id=338 matching still unique: true (1) Attempting matching Primitive Task id=339 Ordering OK. Abstract Task id=348 matching still unique: true (1) Attempting matching Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Ordering OK. Root Task, checking primitive executability ... Running exponential top-sort. The current state is: armempty closed d12 closed d13 door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r1 rloc c Executing plan time=1 #sources=1 Source 0 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 3 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 11 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 12 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 12 Task is: move c r3 d03 Applying effects of the action. Removing fact from state: rloc c Adding fact to state: rloc r3 The new state is: armempty closed d12 closed d13 door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r1 rloc r3 Executing plan time=1 #sources=1 Source -13 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -12 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 16 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 25 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 26 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 26 Task is: open r3 r1 d13 Applying effects of the action. Removing fact from state: closed d13 The new state is: armempty closed d12 door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r1 rloc r3 Executing plan time=1 #sources=1 Source -27 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -26 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 32 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 35 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 36 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 36 Task is: move r3 r1 d13 Applying effects of the action. Removing fact from state: rloc r3 Adding fact to state: rloc r1 The new state is: armempty closed d12 door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r1 rloc r1 Executing plan time=1 #sources=1 Source -37 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -36 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 46 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 56 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 57 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 57 Task is: open r1 r2 d12 Applying effects of the action. Removing fact from state: closed d12 The new state is: armempty door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r1 rloc r1 Executing plan time=1 #sources=1 Source -58 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -57 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 64 is the begin of an abstract task. Evaluating the method precondition Unassigned variable ?loc Contained in method precondition: true Assigning variable ?loc to c Assigning variable ?loc to r1 Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 161 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 162 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 162 Task is: pickup o2 r1 Applying effects of the action. Removing fact from state: armempty Removing fact from state: in o2 r1 Adding fact to state: holding o2 The new state is: door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 holding o2 in o1 r1 rloc r1 Executing plan time=1 #sources=1 Source -163 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -162 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 172 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 194 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 195 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 195 Task is: move r1 r2 d12 Applying effects of the action. Removing fact from state: rloc r1 Adding fact to state: rloc r2 The new state is: door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 holding o2 in o1 r1 rloc r2 Executing plan time=1 #sources=1 Source -196 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -195 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 202 is the begin of an abstract task. Evaluating the method precondition Unassigned variable ?loc Contained in method precondition: true Assigning variable ?loc to c Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Assigning variable ?obj to o2 Assigning variable ?loc to r1 Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Assigning variable ?obj to o2 Assigning variable ?loc to r2 Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Assigning variable ?obj to o2 Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 208 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 209 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 209 Task is: putdown o2 r2 Applying effects of the action. Removing fact from state: holding o2 Adding fact to state: armempty Adding fact to state: in o2 r2 The new state is: armempty door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r2 rloc r2 Executing plan time=1 #sources=1 Source -210 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -209 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 220 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 226 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 227 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 227 Task is: move r2 r1 d12 Applying effects of the action. Removing fact from state: rloc r2 Adding fact to state: rloc r1 The new state is: armempty door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r1 in o2 r2 rloc r1 Executing plan time=1 #sources=1 Source -228 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -227 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 236 is the begin of an abstract task. Evaluating the method precondition Unassigned variable ?loc Contained in method precondition: true Assigning variable ?loc to c Assigning variable ?loc to r1 Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 301 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 302 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 302 Task is: pickup o1 r1 Applying effects of the action. Removing fact from state: armempty Removing fact from state: in o1 r1 Adding fact to state: holding o1 The new state is: door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 holding o1 in o2 r2 rloc r1 Executing plan time=1 #sources=1 Source -303 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -302 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 304 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 316 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 317 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 317 Task is: move r1 r3 d13 Applying effects of the action. Removing fact from state: rloc r1 Adding fact to state: rloc r3 The new state is: door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 holding o1 in o2 r2 rloc r3 Executing plan time=1 #sources=1 Source -318 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -317 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 328 is the begin of an abstract task. Evaluating the method precondition Unassigned variable ?loc Contained in method precondition: true Assigning variable ?loc to c Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Assigning variable ?obj to o2 Assigning variable ?loc to r1 Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Assigning variable ?obj to o2 Assigning variable ?loc to r2 Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Assigning variable ?obj to o2 Assigning variable ?loc to r3 Unassigned variable ?obj Contained in method precondition: true Assigning variable ?obj to o1 Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 338 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 339 is a primitive action. Action has an effect. Performed all sources that can be taken greedily. 1 sources remain. unique=true Attempting to progress through source 339 Task is: putdown o1 r3 Applying effects of the action. Removing fact from state: holding o1 Adding fact to state: armempty Adding fact to state: in o1 r3 The new state is: armempty door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r3 in o2 r2 rloc r3 Executing plan time=1 #sources=1 Source -340 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -339 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 348 is the begin of an abstract task. Evaluating the method precondition Method has no effect. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -349 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -329 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -305 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -237 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -221 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -203 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -173 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -65 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -47 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -33 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -17 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -4 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source -1 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=0 Executed the whole plan ... checking whether we reached the goal state. The current state is: armempty door c r3 d03 door r1 r2 d12 door r1 r3 d13 door r2 r1 d12 door r3 c d03 door r3 r1 d13 goal_in o1 r3 goal_in o2 r2 in o1 r3 in o2 r2 rloc r3 Executable linearisation found. Ordering OK. Result true true Order induced by methods is present in plan: true Plan is executable: true Plan verification result: true