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 39976 %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=28 open r3 r1 d13 Parse instantiated task from " move r3 r1 d13" ... done Parsed action id=38 move r3 r1 d13 Parse instantiated task from " open r1 r2 d12" ... done Parsed action id=61 open r1 r2 d12 Parse instantiated task from " pickup o2 r1" ... done Parsed action id=157 pickup o2 r1 Parse instantiated task from " move r1 r2 d12" ... done Parsed action id=252 move r1 r2 d12 Parse instantiated task from " putdown o2 r2" ... done Parsed action id=295 putdown o2 r2 Parse instantiated task from " move r2 r1 d12" ... done Parsed action id=312 move r2 r1 d12 Parse instantiated task from " pickup o1 r1" ... done Parsed action id=542 pickup o1 r1 Parse instantiated task from " move r1 r3 d13" ... done Parsed action id=550 move r1 r3 d13 Parse instantiated task from " putdown o1 r3" ... done Parsed action id=569 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: 27 34 Parse instantiated task from " open_abstract" ... done Parsed abstract task id=27 open_abstract Parsed method name: newMethod25 Subtasks: 28 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=34 achieve-goals Parsed method name: achieve-goals-move Subtasks: 37 48 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=37 move_abstract Parsed method name: newMethod24 Subtasks: 38 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=48 achieve-goals Parsed method name: achieve-goals-open Subtasks: 60 68 Parse instantiated task from " open_abstract" ... done Parsed abstract task id=60 open_abstract Parsed method name: newMethod25 Subtasks: 61 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=68 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 156 161 Parse instantiated task from " pickup_abstract o2" ... done Parsed abstract task id=156 pickup_abstract o2 Parsed method name: newMethod22 Subtasks: 157 Parse instantiated task from " release" ... done Parsed abstract task id=161 release Parsed method name: release-move Subtasks: 251 262 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=251 move_abstract Parsed method name: newMethod24 Subtasks: 252 Parse instantiated task from " release" ... done Parsed abstract task id=262 release Parsed method name: release-putdown_abstract Subtasks: 294 303 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=294 putdown_abstract Parsed method name: newMethod23 Subtasks: 295 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=303 achieve-goals Parsed method name: achieve-goals-move Subtasks: 311 323 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=311 move_abstract Parsed method name: newMethod24 Subtasks: 312 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=323 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 541 544 Parse instantiated task from " pickup_abstract o1" ... done Parsed abstract task id=541 pickup_abstract o1 Parsed method name: newMethod22 Subtasks: 542 Parse instantiated task from " release" ... done Parsed abstract task id=544 release Parsed method name: release-move Subtasks: 549 556 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=549 move_abstract Parsed method name: newMethod24 Subtasks: 550 Parse instantiated task from " release" ... done Parsed abstract task id=556 release Parsed method name: release-putdown_abstract Subtasks: 568 572 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=568 putdown_abstract Parsed method name: newMethod23 Subtasks: 569 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=572 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 27 Curpos=0 #sources=1 Task is: open_abstract Attempting matching with source __t_id_10 Matching Task 34 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=27 Matching Task 28 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=27 Generating Matchings for task with id=34 Matching Task 37 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 48 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=34 Generating Matchings for task with id=37 Matching Task 38 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=37 Generating Matchings for task with id=48 Matching Task 60 Curpos=0 #sources=1 Task is: open_abstract Attempting matching with source __t_id_10 Matching Task 68 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=48 Generating Matchings for task with id=60 Matching Task 61 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=60 Generating Matchings for task with id=68 Matching Task 156 Curpos=0 #sources=1 Task is: pickup_abstract o2 Attempting matching with source __t_id_6 Setting ?obj = o2 Matching Task 161 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=68 Generating Matchings for task with id=156 Matching Task 157 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=156 Generating Matchings for task with id=161 Matching Task 251 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 262 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=161 Generating Matchings for task with id=251 Matching Task 252 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=251 Generating Matchings for task with id=262 Matching Task 294 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 303 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=262 Generating Matchings for task with id=294 Matching Task 295 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=294 Generating Matchings for task with id=303 Matching Task 311 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 323 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=303 Generating Matchings for task with id=311 Matching Task 312 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=311 Generating Matchings for task with id=323 Matching Task 541 Curpos=0 #sources=1 Task is: pickup_abstract o1 Attempting matching with source __t_id_6 Setting ?obj = o1 Matching Task 544 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=323 Generating Matchings for task with id=541 Matching Task 542 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=541 Generating Matchings for task with id=544 Matching Task 549 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 556 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=544 Generating Matchings for task with id=549 Matching Task 550 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=549 Generating Matchings for task with id=556 Matching Task 568 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 572 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=556 Generating Matchings for task with id=568 Matching Task 569 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=568 Generating Matchings for task with id=572 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=572 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=27 matching still unique: true (1) Attempting matching Primitive Task id=28 Ordering OK. Abstract Task id=34 matching still unique: true (1) Attempting matching Abstract Task id=37 matching still unique: true (1) Attempting matching Primitive Task id=38 Ordering OK. Abstract Task id=48 matching still unique: true (1) Attempting matching Abstract Task id=60 matching still unique: true (1) Attempting matching Primitive Task id=61 Ordering OK. Abstract Task id=68 matching still unique: true (1) Attempting matching Abstract Task id=156 matching still unique: true (1) Attempting matching Primitive Task id=157 Ordering OK. Abstract Task id=161 matching still unique: true (1) Attempting matching Abstract Task id=251 matching still unique: true (1) Attempting matching Primitive Task id=252 Ordering OK. Abstract Task id=262 matching still unique: true (1) Attempting matching Abstract Task id=294 matching still unique: true (1) Attempting matching Primitive Task id=295 Ordering OK. Abstract Task id=303 matching still unique: true (1) Attempting matching Abstract Task id=311 matching still unique: true (1) Attempting matching Primitive Task id=312 Ordering OK. Abstract Task id=323 matching still unique: true (1) Attempting matching Abstract Task id=541 matching still unique: true (1) Attempting matching Primitive Task id=542 Ordering OK. Abstract Task id=544 matching still unique: true (1) Attempting matching Abstract Task id=549 matching still unique: true (1) Attempting matching Primitive Task id=550 Ordering OK. Abstract Task id=556 matching still unique: true (1) Attempting matching Abstract Task id=568 matching still unique: true (1) Attempting matching Primitive Task id=569 Ordering OK. Abstract Task id=572 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 27 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 28 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 28 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 -29 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 -28 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 34 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 37 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 38 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 38 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 -39 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 -38 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 48 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 60 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 61 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 61 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 -62 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 -61 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 68 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 156 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 157 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 157 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 -158 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 -157 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 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 251 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 252 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 252 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 -253 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 -252 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 262 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 294 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 295 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 295 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 -296 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 -295 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 303 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 311 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 312 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 312 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 -313 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 -312 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 323 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 541 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 542 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 542 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 -543 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 -542 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 544 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 549 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 550 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 550 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 -551 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 -550 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 556 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 568 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 569 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 569 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 -570 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 -569 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 572 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 -573 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 -557 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 -545 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 -324 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 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 -263 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 -69 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 -49 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 -35 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