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 0:00.22 39424 %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 o1 r1" ... done Parsed action id=108 pickup o1 r1 Parse instantiated task from " move r1 r3 d13" ... done Parsed action id=121 move r1 r3 d13 Parse instantiated task from " putdown o1 r3" ... done Parsed action id=140 putdown o1 r3 Parse instantiated task from " move r3 r1 d13" ... done Parsed action id=154 move r3 r1 d13 Parse instantiated task from " pickup o2 r1" ... done Parsed action id=213 pickup o2 r1 Parse instantiated task from " move r1 r2 d12" ... done Parsed action id=225 move r1 r2 d12 Parse instantiated task from " putdown o2 r2" ... done Parsed action id=241 putdown o2 r2 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: 107 115 Parse instantiated task from " pickup_abstract o1" ... done Parsed abstract task id=107 pickup_abstract o1 Parsed method name: newMethod22 Subtasks: 108 Parse instantiated task from " release" ... done Parsed abstract task id=115 release Parsed method name: release-move Subtasks: 120 127 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=120 move_abstract Parsed method name: newMethod24 Subtasks: 121 Parse instantiated task from " release" ... done Parsed abstract task id=127 release Parsed method name: release-putdown_abstract Subtasks: 139 150 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=139 putdown_abstract Parsed method name: newMethod23 Subtasks: 140 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=150 achieve-goals Parsed method name: achieve-goals-move Subtasks: 153 167 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=153 move_abstract Parsed method name: newMethod24 Subtasks: 154 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=167 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 212 215 Parse instantiated task from " pickup_abstract o2" ... done Parsed abstract task id=212 pickup_abstract o2 Parsed method name: newMethod22 Subtasks: 213 Parse instantiated task from " release" ... done Parsed abstract task id=215 release Parsed method name: release-move Subtasks: 224 227 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=224 move_abstract Parsed method name: newMethod24 Subtasks: 225 Parse instantiated task from " release" ... done Parsed abstract task id=227 release Parsed method name: release-putdown_abstract Subtasks: 240 243 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=240 putdown_abstract Parsed method name: newMethod23 Subtasks: 241 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=243 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 107 Curpos=0 #sources=1 Task is: pickup_abstract o1 Attempting matching with source __t_id_6 Setting ?obj = o1 Matching Task 115 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=107 Matching Task 108 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=107 Generating Matchings for task with id=115 Matching Task 120 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 127 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=115 Generating Matchings for task with id=120 Matching Task 121 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=120 Generating Matchings for task with id=127 Matching Task 139 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 150 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=127 Generating Matchings for task with id=139 Matching Task 140 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=139 Generating Matchings for task with id=150 Matching Task 153 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 167 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=150 Generating Matchings for task with id=153 Matching Task 154 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=153 Generating Matchings for task with id=167 Matching Task 212 Curpos=0 #sources=1 Task is: pickup_abstract o2 Attempting matching with source __t_id_6 Setting ?obj = o2 Matching Task 215 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=167 Generating Matchings for task with id=212 Matching Task 213 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=212 Generating Matchings for task with id=215 Matching Task 224 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 227 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=215 Generating Matchings for task with id=224 Matching Task 225 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=224 Generating Matchings for task with id=227 Matching Task 240 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 243 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=227 Generating Matchings for task with id=240 Matching Task 241 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=240 Generating Matchings for task with id=243 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=243 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=107 matching still unique: true (1) Attempting matching Primitive Task id=108 Ordering OK. Abstract Task id=115 matching still unique: true (1) Attempting matching Abstract Task id=120 matching still unique: true (1) Attempting matching Primitive Task id=121 Ordering OK. Abstract Task id=127 matching still unique: true (1) Attempting matching Abstract Task id=139 matching still unique: true (1) Attempting matching Primitive Task id=140 Ordering OK. Abstract Task id=150 matching still unique: true (1) Attempting matching Abstract Task id=153 matching still unique: true (1) Attempting matching Primitive Task id=154 Ordering OK. Abstract Task id=167 matching still unique: true (1) Attempting matching Abstract Task id=212 matching still unique: true (1) Attempting matching Primitive Task id=213 Ordering OK. Abstract Task id=215 matching still unique: true (1) Attempting matching Abstract Task id=224 matching still unique: true (1) Attempting matching Primitive Task id=225 Ordering OK. Abstract Task id=227 matching still unique: true (1) Attempting matching Abstract Task id=240 matching still unique: true (1) Attempting matching Primitive Task id=241 Ordering OK. Abstract Task id=243 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 107 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 108 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 108 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 r1 rloc r1 Executing plan time=1 #sources=1 Source -109 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 -108 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 115 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 120 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 121 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 121 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 r1 rloc r3 Executing plan time=1 #sources=1 Source -122 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 -121 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 127 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 139 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 140 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 140 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 r1 rloc r3 Executing plan time=1 #sources=1 Source -141 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 -140 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 150 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 153 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 154 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 154 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 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 r1 rloc r1 Executing plan time=1 #sources=1 Source -155 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 -154 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 167 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 212 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 213 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 213 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 r3 rloc r1 Executing plan time=1 #sources=1 Source -214 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 -213 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 215 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 224 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 225 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 225 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 r3 rloc r2 Executing plan time=1 #sources=1 Source -226 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 -225 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 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 240 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 241 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 241 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 r3 in o2 r2 rloc r2 Executing plan time=1 #sources=1 Source -242 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 -241 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 243 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 -244 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 -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 -216 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 -168 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 -151 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 -128 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 -116 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 r2 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