INFO: underlay of /etc/localtime required more than 50 (80) 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 TOAD - Total Order HTN Approximation with DFA. You have compiled TOAD without setting the NDEBUG flag. This will make it slow and should only be done for debug. Reading HTN model from file "domain-problem.psas" ... - State has 11 bits divided into 4 mutex groups. [statebits=11] [statevars=4] - Domain contains 13 actions. [numActions=13] - Domain contains 19 tasks. [numTasks=19] - Domain contains 16 methods. [numMethods=16] - The initial state contains 4 set bits. - The initial task is "__top[]". - State-based goal contains 0 bits. - [timePrepareModel=1] Starting translation - adding methods as grammar rules Analysing rules - starting grammar simplification - 0 rules are not bottom-up reachable. - sorting rules...(done) - calculating SCCs... - number of SCCs: 17 [numSCCs=17] - number of cyclic SCCs: 1. [cyclicSCCs=1] - self-loops: 0. [sccSelfLoops=0] - collecting SCC data - analysing recursion...(done) - partitions of recursive tasks: - recursive structure: [rrec=no] [lrec=yes] [srec=no] [crec=no] - instance properties: - the instance is recursive, but not self-embedding, i.e. it is regular. [rec=nonSelfEmbedding] - using exact translation. [alg=exact] - [timeHtnToGrammar=1] Building DFA - Using bottom-up algorithm [algo=bu] - inplace threshold [ipt=15] - building sub-automata... 0% 17% [0] 33% [0] 50% [0] 67% [0] 83% [0] 100% [timeBuildFA=2] final automaton has 17 states [faFinalStates=17]. - [usePostOpt=true] - [roundsOfSuccOpt=0] - [postOptimization=0] - [numStatesFinal=17] - [buildingDFA=3] - counting actions... - [timeCountingActions=0] - [numActions=50] - writing FA distance for each state (used in special FD heuristic) Creating heuristic lookup table - [writingHfaLookUpTable=0] [t=6.2872e-05s, 10164 KB] reading input... [t=0.000348077s, 10164 KB] done reading input! [t=0.00132146s, 10552 KB] Simplifying 94 unary operators... done! [94 unary operators] [t=0.00140657s, 10552 KB] time to simplify: 0.000102185s [t=0.00143019s, 10552 KB] Initializing additive heuristic... [t=0.00143998s, 10552 KB] Initializing FF heuristic... [t=0.00146667s, 10552 KB] Initializing DFA distance heuristic... [t=0.00153257s, 10552 KB] Building successor generator...done! [t=0.00158409s, 10552 KB] peak memory difference for successor generator creation: 0 KB [t=0.00159274s, 10552 KB] time for successor generation creation: 2.1705e-05s [t=0.00160361s, 10552 KB] Variables: 5 [t=0.00161246s, 10552 KB] FactPairs: 28 [t=0.00162124s, 10552 KB] Bytes per state: 4 [t=0.0017019s, 10552 KB] Conducting lazy best first search, (real) bound = 2147483647 [t=0.00175258s, 10552 KB] New best heuristic value for ff: 9 [t=0.00176362s, 10552 KB] New best heuristic value for dfad: 8 [t=0.00177352s, 10552 KB] g=0, 1 evaluated, 0 expanded [t=0.00178654s, 10552 KB] Initial heuristic value for ff: 9 [t=0.00179569s, 10552 KB] Initial heuristic value for dfad: 8 [t=0.00181108s, 10552 KB] New best heuristic value for dfad: 7 [t=0.00182016s, 10552 KB] g=1, 2 evaluated, 1 expanded [t=0.00183526s, 10552 KB] New best heuristic value for ff: 7 [t=0.00184439s, 10552 KB] New best heuristic value for dfad: 6 [t=0.00185266s, 10552 KB] g=2, 3 evaluated, 2 expanded [t=0.00186682s, 10552 KB] New best heuristic value for dfad: 5 [t=0.00187607s, 10552 KB] g=3, 4 evaluated, 3 expanded [t=0.00188944s, 10552 KB] New best heuristic value for ff: 5 [t=0.00189829s, 10552 KB] New best heuristic value for dfad: 4 [t=0.00190666s, 10552 KB] g=4, 5 evaluated, 4 expanded [t=0.00191989s, 10552 KB] New best heuristic value for ff: 4 [t=0.00192903s, 10552 KB] New best heuristic value for dfad: 3 [t=0.0019377s, 10552 KB] g=5, 6 evaluated, 5 expanded [t=0.00195061s, 10552 KB] New best heuristic value for ff: 2 [t=0.0019596s, 10552 KB] New best heuristic value for dfad: 2 [t=0.00196788s, 10552 KB] g=6, 7 evaluated, 6 expanded [t=0.00198006s, 10552 KB] New best heuristic value for ff: 1 [t=0.00198888s, 10552 KB] New best heuristic value for dfad: 1 [t=0.0019972s, 10552 KB] g=7, 8 evaluated, 7 expanded [t=0.00200954s, 10552 KB] Solution found! drive[truck_0,city_loc_2,city_loc_1] (1) pick_up[truck_0,city_loc_1,package_0,capacity_0,capacity_1] (1) drive[truck_0,city_loc_1,city_loc_0] (1) drop[truck_0,city_loc_0,package_0,capacity_0,capacity_1] (1) drive[truck_0,city_loc_0,city_loc_1] (1) pick_up[truck_0,city_loc_1,package_1,capacity_0,capacity_1] (1) drive[truck_0,city_loc_1,city_loc_2] (1) drop[truck_0,city_loc_2,package_1,capacity_0,capacity_1] (1) [t=0.00210123s, 10552 KB] Plan length: 8 step(s). [t=0.00211275s, 10552 KB] Plan cost: 8 Reading HTN model from file "sas_plan.verify" ... TOAD: verification successful. [t=0.00217784s, 10580 KB] verification successful Actual search time: 0.000489174s drive[truck_0,city_loc_2,city_loc_1] (1) pick_up[truck_0,city_loc_1,package_0,capacity_0,capacity_1] (1) drive[truck_0,city_loc_1,city_loc_0] (1) drop[truck_0,city_loc_0,package_0,capacity_0,capacity_1] (1) drive[truck_0,city_loc_0,city_loc_1] (1) pick_up[truck_0,city_loc_1,package_1,capacity_0,capacity_1] (1) drive[truck_0,city_loc_1,city_loc_2] (1) drop[truck_0,city_loc_2,package_1,capacity_0,capacity_1] (1) [t=0.00222974s, 10580 KB] Plan length: 8 step(s). [t=0.00222974s, 10580 KB] Plan cost: 8 [t=0.00222974s, 10580 KB] Expanded 8 state(s). [t=0.00222974s, 10580 KB] Reopened 0 state(s). [t=0.00222974s, 10580 KB] Evaluated 9 state(s). [t=0.00222974s, 10580 KB] Evaluations: 18 [t=0.00222974s, 10580 KB] Generated 20 state(s). [t=0.00222974s, 10580 KB] Dead ends: 0 state(s). [t=0.00222974s, 10580 KB] Number of registered states: 9 [t=0.00222974s, 10580 KB] Int hash set load factor: 9/16 = 0.5625 [t=0.00222974s, 10580 KB] Int hash set resizes: 4 [t=0.00222974s, 10580 KB] Search time: 0.000528165s [t=0.00222974s, 10580 KB] Total time: 0.00222974s Solution found. Peak memory: 10580 KB pandaPIparser is configured as follows Colors in output: true Mode: convert pandaPI plan %TIME 0:00.33 38952 %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 " drive truck_0 city_loc_2 city_loc_1" ... done Parsed action id=7 drive truck_0 city_loc_2 city_loc_1 Parse instantiated task from " pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1" ... done Parsed action id=9 pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1 Parse instantiated task from " drive truck_0 city_loc_1 city_loc_0" ... done Parsed action id=13 drive truck_0 city_loc_1 city_loc_0 Parse instantiated task from " drop truck_0 city_loc_0 package_0 capacity_0 capacity_1" ... done Parsed action id=15 drop truck_0 city_loc_0 package_0 capacity_0 capacity_1 Parse instantiated task from " drive truck_0 city_loc_0 city_loc_1" ... done Parsed action id=22 drive truck_0 city_loc_0 city_loc_1 Parse instantiated task from " pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1" ... done Parsed action id=24 pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1 Parse instantiated task from " drive truck_0 city_loc_1 city_loc_2" ... done Parsed action id=28 drive truck_0 city_loc_1 city_loc_2 Parse instantiated task from " drop truck_0 city_loc_2 package_1 capacity_0 capacity_1" ... done Parsed action id=30 drop truck_0 city_loc_2 package_1 capacity_0 capacity_1 Size of primitive plan: 8 Reading list of integers from " 32 34" Root tasks (2): 32 34 Reading plan given as input Parse instantiated task from " get_to truck_0 city_loc_1" ... done Parsed abstract task id=2 get_to truck_0 city_loc_1 Parsed method name: m_drive_to_ordering_0 Subtasks: 7 Parse instantiated task from " get_to truck_0 city_loc_0" ... done Parsed abstract task id=10 get_to truck_0 city_loc_0 Parsed method name: m_drive_to_ordering_0 Subtasks: 13 Parse instantiated task from " get_to truck_0 city_loc_1" ... done Parsed abstract task id=18 get_to truck_0 city_loc_1 Parsed method name: m_drive_to_ordering_0 Subtasks: 22 Parse instantiated task from " get_to truck_0 city_loc_2" ... done Parsed abstract task id=25 get_to truck_0 city_loc_2 Parsed method name: m_drive_to_ordering_0 Subtasks: 28 Parse instantiated task from " unload truck_0 city_loc_0 package_0" ... done Parsed abstract task id=31 unload truck_0 city_loc_0 package_0 Parsed method name: m_unload_ordering_0 Subtasks: 15 Parse instantiated task from " deliver package_0 city_loc_0" ... done Parsed abstract task id=32 deliver package_0 city_loc_0 Parsed method name: m_deliver_ordering_0 Subtasks: 2 35 10 31 Parse instantiated task from " unload truck_0 city_loc_2 package_1" ... done Parsed abstract task id=33 unload truck_0 city_loc_2 package_1 Parsed method name: m_unload_ordering_0 Subtasks: 30 Parse instantiated task from " deliver package_1 city_loc_2" ... done Parsed abstract task id=34 deliver package_1 city_loc_2 Parsed method name: m_deliver_ordering_0 Subtasks: 18 36 25 33 Parse instantiated task from " load truck_0 city_loc_1 package_0" ... done Parsed abstract task id=35 load truck_0 city_loc_1 package_0 Parsed method name: m_load_ordering_0 Subtasks: 9 Parse instantiated task from " load truck_0 city_loc_1 package_1" ... done Parsed abstract task id=36 load truck_0 city_loc_1 package_1 Parsed method name: m_load_ordering_0 Subtasks: 24 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 32 Curpos=0 #sources=1 Task is: deliver package_0 city_loc_0 Attempting matching with source task0 Setting ?var_for_package_0 = package_0 Setting ?var_for_city_loc_0 = city_loc_0 Matching Task 34 Curpos=1 #sources=1 Task is: deliver package_1 city_loc_2 Attempting matching with source task1 Setting ?var_for_package_1 = package_1 Setting ?var_for_city_loc_2 = city_loc_2 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=2 Matching Task 7 Curpos=0 #sources=1 Task is: drive truck_0 city_loc_2 city_loc_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l1 = city_loc_2 Setting ?l2 = city_loc_1 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=2 Generating Matchings for task with id=10 Matching Task 13 Curpos=0 #sources=1 Task is: drive truck_0 city_loc_1 city_loc_0 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l1 = city_loc_1 Setting ?l2 = city_loc_0 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=10 Generating Matchings for task with id=18 Matching Task 22 Curpos=0 #sources=1 Task is: drive truck_0 city_loc_0 city_loc_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l1 = city_loc_0 Setting ?l2 = city_loc_1 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=18 Generating Matchings for task with id=25 Matching Task 28 Curpos=0 #sources=1 Task is: drive truck_0 city_loc_1 city_loc_2 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l1 = city_loc_1 Setting ?l2 = city_loc_2 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=31 Matching Task 15 Curpos=0 #sources=1 Task is: drop truck_0 city_loc_0 package_0 capacity_0 capacity_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l = city_loc_0 Setting ?p = package_0 Setting ?s1 = capacity_0 Setting ?s2 = capacity_1 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=31 Generating Matchings for task with id=32 Matching Task 2 Curpos=0 #sources=1 Task is: get_to truck_0 city_loc_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l1 = city_loc_1 Matching Task 35 Curpos=1 #sources=1 Task is: load truck_0 city_loc_1 package_0 Attempting matching with source task1 Setting ?v = truck_0 Setting ?l1 = city_loc_1 Setting ?p = package_0 Matching Task 10 Curpos=2 #sources=1 Task is: get_to truck_0 city_loc_0 Attempting matching with source task2 Setting ?v = truck_0 Setting ?l2 = city_loc_0 Matching Task 31 Curpos=3 #sources=1 Task is: unload truck_0 city_loc_0 package_0 Attempting matching with source task3 Setting ?v = truck_0 Setting ?l2 = city_loc_0 Setting ?p = package_0 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=33 Matching Task 30 Curpos=0 #sources=1 Task is: drop truck_0 city_loc_2 package_1 capacity_0 capacity_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l = city_loc_2 Setting ?p = package_1 Setting ?s1 = capacity_0 Setting ?s2 = capacity_1 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=33 Generating Matchings for task with id=34 Matching Task 18 Curpos=0 #sources=1 Task is: get_to truck_0 city_loc_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l1 = city_loc_1 Matching Task 36 Curpos=1 #sources=1 Task is: load truck_0 city_loc_1 package_1 Attempting matching with source task1 Setting ?v = truck_0 Setting ?l1 = city_loc_1 Setting ?p = package_1 Matching Task 25 Curpos=2 #sources=1 Task is: get_to truck_0 city_loc_2 Attempting matching with source task2 Setting ?v = truck_0 Setting ?l2 = city_loc_2 Matching Task 33 Curpos=3 #sources=1 Task is: unload truck_0 city_loc_2 package_1 Attempting matching with source task3 Setting ?v = truck_0 Setting ?l2 = city_loc_2 Setting ?p = package_1 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=35 Matching Task 9 Curpos=0 #sources=1 Task is: pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l = city_loc_1 Setting ?p = package_0 Setting ?s1 = capacity_0 Setting ?s2 = capacity_1 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=36 Matching Task 24 Curpos=0 #sources=1 Task is: pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1 Attempting matching with source task0 Setting ?v = truck_0 Setting ?l = city_loc_1 Setting ?p = package_1 Setting ?s1 = capacity_0 Setting ?s2 = capacity_1 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=36 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=32 matching still unique: true (1) Attempting matching Abstract Task id=2 matching still unique: true (1) Attempting matching Primitive Task id=7 Ordering OK. Abstract Task id=35 matching still unique: true (1) Attempting matching Primitive Task id=9 Ordering OK. Abstract Task id=10 matching still unique: true (1) Attempting matching Primitive Task id=13 Ordering OK. Abstract Task id=31 matching still unique: true (1) Attempting matching Primitive Task id=15 Ordering OK. Ordering OK. Abstract Task id=34 matching still unique: true (1) Attempting matching Abstract Task id=18 matching still unique: true (1) Attempting matching Primitive Task id=22 Ordering OK. Abstract Task id=36 matching still unique: true (1) Attempting matching Primitive Task id=24 Ordering OK. Abstract Task id=25 matching still unique: true (1) Attempting matching Primitive Task id=28 Ordering OK. Abstract Task id=33 matching still unique: true (1) Attempting matching Primitive Task id=30 Ordering OK. Ordering OK. Root Task, checking primitive executability ... Running exponential top-sort. The current state is: at package_0 city_loc_1 at package_1 city_loc_1 at truck_0 city_loc_2 capacity truck_0 capacity_1 capacity_predecessor capacity_0 capacity_1 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 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 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 2 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 7 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 7 Task is: drive truck_0 city_loc_2 city_loc_1 Applying effects of the action. Removing fact from state: at truck_0 city_loc_2 Adding fact to state: at truck_0 city_loc_1 The new state is: at package_0 city_loc_1 at package_1 city_loc_1 at truck_0 city_loc_1 capacity truck_0 capacity_1 capacity_predecessor capacity_0 capacity_1 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -8 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 -3 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 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 9 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 9 Task is: pick_up truck_0 city_loc_1 package_0 capacity_0 capacity_1 Applying effects of the action. Removing fact from state: at package_0 city_loc_1 Removing fact from state: capacity truck_0 capacity_1 Adding fact to state: capacity truck_0 capacity_0 Adding fact to state: in package_0 truck_0 The new state is: at package_1 city_loc_1 at truck_0 city_loc_1 capacity truck_0 capacity_0 capacity_predecessor capacity_0 capacity_1 in package_0 truck_0 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -10 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 10 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 13 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 13 Task is: drive truck_0 city_loc_1 city_loc_0 Applying effects of the action. Removing fact from state: at truck_0 city_loc_1 Adding fact to state: at truck_0 city_loc_0 The new state is: at package_1 city_loc_1 at truck_0 city_loc_0 capacity truck_0 capacity_0 capacity_predecessor capacity_0 capacity_1 in package_0 truck_0 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -14 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 -11 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 31 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 15 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 15 Task is: drop truck_0 city_loc_0 package_0 capacity_0 capacity_1 Applying effects of the action. Removing fact from state: capacity truck_0 capacity_0 Removing fact from state: in package_0 truck_0 Adding fact to state: at package_0 city_loc_0 Adding fact to state: capacity truck_0 capacity_1 The new state is: at package_0 city_loc_0 at package_1 city_loc_1 at truck_0 city_loc_0 capacity truck_0 capacity_1 capacity_predecessor capacity_0 capacity_1 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -16 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 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 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 18 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 22 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 22 Task is: drive truck_0 city_loc_0 city_loc_1 Applying effects of the action. Removing fact from state: at truck_0 city_loc_0 Adding fact to state: at truck_0 city_loc_1 The new state is: at package_0 city_loc_0 at package_1 city_loc_1 at truck_0 city_loc_1 capacity truck_0 capacity_1 capacity_predecessor capacity_0 capacity_1 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -23 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 -19 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 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 24 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 24 Task is: pick_up truck_0 city_loc_1 package_1 capacity_0 capacity_1 Applying effects of the action. Removing fact from state: at package_1 city_loc_1 Removing fact from state: capacity truck_0 capacity_1 Adding fact to state: capacity truck_0 capacity_0 Adding fact to state: in package_1 truck_0 The new state is: at package_0 city_loc_0 at truck_0 city_loc_1 capacity truck_0 capacity_0 capacity_predecessor capacity_0 capacity_1 in package_1 truck_0 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -25 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 -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 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 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: drive truck_0 city_loc_1 city_loc_2 Applying effects of the action. Removing fact from state: at truck_0 city_loc_1 Adding fact to state: at truck_0 city_loc_2 The new state is: at package_0 city_loc_0 at truck_0 city_loc_2 capacity truck_0 capacity_0 capacity_predecessor capacity_0 capacity_1 in package_1 truck_0 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 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 -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 33 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 30 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 30 Task is: drop truck_0 city_loc_2 package_1 capacity_0 capacity_1 Applying effects of the action. Removing fact from state: capacity truck_0 capacity_0 Removing fact from state: in package_1 truck_0 Adding fact to state: at package_1 city_loc_2 Adding fact to state: capacity truck_0 capacity_1 The new state is: at package_0 city_loc_0 at package_1 city_loc_2 at truck_0 city_loc_2 capacity truck_0 capacity_1 capacity_predecessor capacity_0 capacity_1 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 Executing plan time=1 #sources=1 Source -31 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 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 -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: at package_0 city_loc_0 at package_1 city_loc_2 at truck_0 city_loc_2 capacity truck_0 capacity_1 capacity_predecessor capacity_0 capacity_1 road city_loc_0 city_loc_1 road city_loc_1 city_loc_0 road city_loc_1 city_loc_2 road city_loc_2 city_loc_1 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