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 4 bits divided into 2 mutex groups. [statebits=4] [statevars=2] - Domain contains 5 actions. [numActions=5] - Domain contains 9 tasks. [numTasks=9] - Domain contains 8 methods. [numMethods=8] - The initial state contains 2 set bits. - The initial task is "__top[]". - State-based goal contains 0 bits. - [timePrepareModel=2] 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: 9 [numSCCs=9] - number of cyclic SCCs: 1. [cyclicSCCs=1] - self-loops: 1. [sccSelfLoops=1] - collecting SCC data - analysing recursion...(done) - partitions of recursive tasks: - recursive structure: [rrec=yes] [lrec=no] [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 top down algorithm [algo=td] - inplace threshold [ipt=-1] - ALL tasks handled inplace - not using intermediate optimization - building sub-FAs - [numSubFAs=1] - [timeBuildingSubFAs=0] - combining sub-FAs. -> is not necessary [timeCombiningSubFAs=0] - [numStatesRAW=3] - [usePostOpt=true] - [roundsOfSuccOpt=1] - [postOptimization=1] - [numStatesFinal=2] - [buildingDFA=2] - counting actions... - [timeCountingActions=0] - [numActions=5] - writing FA distance for each state (used in special FD heuristic) Creating heuristic lookup table - [writingHfaLookUpTable=0] [t=7.1979e-05s, 10164 KB] reading input... [t=0.000253289s, 10164 KB] done reading input! [t=0.00116497s, 10420 KB] Simplifying 5 unary operators... done! [5 unary operators] [t=0.00121155s, 10420 KB] time to simplify: 5.8718e-05s [t=0.00122396s, 10420 KB] Initializing additive heuristic... [t=0.00123172s, 10420 KB] Initializing FF heuristic... [t=0.00125821s, 10420 KB] Initializing DFA distance heuristic... [t=0.00131438s, 10420 KB] Building successor generator...done! [t=0.00134815s, 10420 KB] peak memory difference for successor generator creation: 0 KB [t=0.00135621s, 10420 KB] time for successor generation creation: 7.382e-06s [t=0.00136621s, 10420 KB] Variables: 3 [t=0.00137427s, 10420 KB] FactPairs: 6 [t=0.00138204s, 10420 KB] Bytes per state: 4 [t=0.00145598s, 10420 KB] Conducting lazy best first search, (real) bound = 2147483647 [t=0.00149782s, 10420 KB] New best heuristic value for ff: 1 [t=0.00150713s, 10420 KB] New best heuristic value for dfad: 1 [t=0.00151508s, 10420 KB] g=0, 1 evaluated, 0 expanded [t=0.00152697s, 10420 KB] Initial heuristic value for ff: 1 [t=0.00153513s, 10420 KB] Initial heuristic value for dfad: 1 [t=0.00154832s, 10420 KB] Solution found! __noop (1) [t=0.00160163s, 10420 KB] Plan length: 1 step(s). [t=0.00161201s, 10420 KB] Plan cost: 1 Reading HTN model from file "sas_plan.verify" ... TOAD: verification successful. [t=0.00168415s, 10456 KB] verification successful Actual search time: 0.000258179s __noop (1) [t=0.00175349s, 10456 KB] Plan length: 1 step(s). [t=0.00175349s, 10456 KB] Plan cost: 1 [t=0.00175349s, 10456 KB] Expanded 2 state(s). [t=0.00175349s, 10456 KB] Reopened 0 state(s). [t=0.00175349s, 10456 KB] Evaluated 3 state(s). [t=0.00175349s, 10456 KB] Evaluations: 6 [t=0.00175349s, 10456 KB] Generated 4 state(s). [t=0.00175349s, 10456 KB] Dead ends: 0 state(s). [t=0.00175349s, 10456 KB] Number of registered states: 3 [t=0.00175349s, 10456 KB] Int hash set load factor: 3/4 = 0.75 [t=0.00175349s, 10456 KB] Int hash set resizes: 2 [t=0.00175349s, 10456 KB] Search time: 0.000297924s [t=0.00175349s, 10456 KB] Total time: 0.00175349s Solution found. Peak memory: 10456 KB pandaPIparser is configured as follows Colors in output: true Mode: convert pandaPI plan %TIME 0:00.32 38620 %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 Size of primitive plan: 0 Reading list of integers from " 1" Root tasks (1): 1 Reading plan given as input Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=1 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 1 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=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=1 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=1 matching still unique: true (1) Attempting matching Ordering OK. Root Task, checking primitive executability ... Running exponential top-sort. The current state is: armempty closed d01 door c r1 d01 door r1 c d01 goal_in o1 r1 in o1 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 1 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 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 closed d01 door c r1 d01 door r1 c d01 goal_in o1 r1 in o1 r1 rloc c 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