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 15 bits divided into 6 mutex groups. [statebits=15] [statevars=6] - Domain contains 21 actions. [numActions=21] - Domain contains 31 tasks. [numTasks=31] - Domain contains 28 methods. [numMethods=28] - The initial state contains 6 set bits. - The initial task is "__top[]". - State-based goal contains 2 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: 30 [numSCCs=30] - 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=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=2] 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=7] - [usePostOpt=true] - [roundsOfSuccOpt=1] - [postOptimization=2] - [numStatesFinal=6] - [buildingDFA=3] - counting actions... - [timeCountingActions=0] - [numActions=31] - writing FA distance for each state (used in special FD heuristic) Creating heuristic lookup table - [writingHfaLookUpTable=0] [t=7.0723e-05s, 10164 KB] reading input... [t=0.000320605s, 10164 KB] done reading input! [t=0.00129426s, 10420 KB] Simplifying 43 unary operators... done! [43 unary operators] [t=0.00139847s, 10420 KB] time to simplify: 0.000120842s [t=0.00141907s, 10420 KB] Initializing additive heuristic... [t=0.00142839s, 10420 KB] Initializing FF heuristic... [t=0.00145804s, 10420 KB] Initializing DFA distance heuristic... [t=0.00151329s, 10552 KB] Building successor generator...done! [t=0.00157098s, 10552 KB] peak memory difference for successor generator creation: 0 KB [t=0.00157987s, 10552 KB] time for successor generation creation: 1.5289e-05s [t=0.00158996s, 10552 KB] Variables: 7 [t=0.00159838s, 10552 KB] FactPairs: 22 [t=0.00160673s, 10552 KB] Bytes per state: 4 [t=0.00170263s, 10552 KB] Conducting lazy best first search, (real) bound = 2147483647 [t=0.00176398s, 10552 KB] New best heuristic value for ff: 13 [t=0.00177539s, 10552 KB] New best heuristic value for dfad: 1 [t=0.0017847s, 10552 KB] g=0, 1 evaluated, 0 expanded [t=0.00179797s, 10552 KB] Initial heuristic value for ff: 13 [t=0.00180755s, 10552 KB] Initial heuristic value for dfad: 1 [t=0.00182208s, 10552 KB] New best heuristic value for ff: 12 [t=0.00183157s, 10552 KB] g=1, 2 evaluated, 1 expanded [t=0.0018469s, 10552 KB] New best heuristic value for ff: 11 [t=0.00185658s, 10552 KB] g=2, 3 evaluated, 2 expanded [t=0.00187965s, 10552 KB] New best heuristic value for ff: 10 [t=0.00189104s, 10552 KB] g=4, 8 evaluated, 4 expanded [t=0.00190611s, 10552 KB] New best heuristic value for ff: 9 [t=0.00191593s, 10552 KB] g=5, 9 evaluated, 5 expanded [t=0.00193298s, 10552 KB] New best heuristic value for ff: 8 [t=0.00194365s, 10552 KB] g=6, 11 evaluated, 7 expanded [t=0.00197398s, 10552 KB] New best heuristic value for ff: 7 [t=0.00198539s, 10552 KB] g=8, 17 evaluated, 12 expanded [t=0.00200715s, 10552 KB] New best heuristic value for ff: 6 [t=0.00201684s, 10552 KB] g=10, 21 evaluated, 16 expanded [t=0.00203345s, 10552 KB] New best heuristic value for ff: 5 [t=0.0020434s, 10552 KB] g=11, 23 evaluated, 18 expanded [t=0.00205936s, 10552 KB] New best heuristic value for ff: 4 [t=0.00206984s, 10552 KB] g=12, 25 evaluated, 20 expanded [t=0.00208329s, 10552 KB] New best heuristic value for ff: 3 [t=0.00209408s, 10552 KB] g=13, 27 evaluated, 21 expanded [t=0.00210648s, 10552 KB] New best heuristic value for ff: 2 [t=0.00211619s, 10552 KB] g=14, 28 evaluated, 22 expanded [t=0.00212905s, 10552 KB] New best heuristic value for ff: 1 [t=0.00213858s, 10552 KB] g=15, 30 evaluated, 23 expanded [t=0.0021503s, 10552 KB] Solution found! move[c,r3,d03] (1) open[r3,r1,d13] (1) move[r3,r1,d13] (1) __method_precondition_achieve-goals-pickup_split[r1,o2] (1) pickup[o2,r1] (1) open[r1,r2,d12] (1) move[r1,r2,d12] (1) __method_precondition_release-putdown_abstract_split[r2,o2] (1) putdown[o2,r2] (1) move[r2,r1,d12] (1) __method_precondition_achieve-goals-pickup_split[r1,o1] (1) pickup[o1,r1] (1) move[r1,r3,d13] (1) __method_precondition_release-putdown_abstract_split[r3,o1] (1) putdown[o1,r3] (1) __noop (1) [t=0.00223009s, 10552 KB] Plan length: 16 step(s). [t=0.00224488s, 10552 KB] Plan cost: 16 Reading HTN model from file "sas_plan.verify" ... TOAD: verification successful. [t=0.00231687s, 10580 KB] verification successful Actual search time: 0.000612649s move[c,r3,d03] (1) open[r3,r1,d13] (1) move[r3,r1,d13] (1) __method_precondition_achieve-goals-pickup_split[r1,o2] (1) pickup[o2,r1] (1) open[r1,r2,d12] (1) move[r1,r2,d12] (1) __method_precondition_release-putdown_abstract_split[r2,o2] (1) putdown[o2,r2] (1) move[r2,r1,d12] (1) __method_precondition_achieve-goals-pickup_split[r1,o1] (1) pickup[o1,r1] (1) move[r1,r3,d13] (1) __method_precondition_release-putdown_abstract_split[r3,o1] (1) putdown[o1,r3] (1) __noop (1) [t=0.00236456s, 10580 KB] Plan length: 16 step(s). [t=0.00236456s, 10580 KB] Plan cost: 16 [t=0.00236456s, 10580 KB] Expanded 24 state(s). [t=0.00236456s, 10580 KB] Reopened 0 state(s). [t=0.00236456s, 10580 KB] Evaluated 31 state(s). [t=0.00236456s, 10580 KB] Evaluations: 62 [t=0.00236456s, 10580 KB] Generated 54 state(s). [t=0.00236456s, 10580 KB] Dead ends: 6 state(s). [t=0.00236456s, 10580 KB] Number of registered states: 31 [t=0.00236456s, 10580 KB] Int hash set load factor: 31/32 = 0.96875 [t=0.00236456s, 10580 KB] Int hash set resizes: 5 [t=0.00236456s, 10580 KB] Search time: 0.000662872s [t=0.00236456s, 10580 KB] Total time: 0.00236456s Solution found. Peak memory: 10580 KB pandaPIparser is configured as follows Colors in output: true Mode: convert pandaPI plan %TIME 0:00.31 38492 %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=11 move c r3 d03 Parse instantiated task from " open r3 r1 d13" ... done Parsed action id=21 open r3 r1 d13 Parse instantiated task from " move r3 r1 d13" ... done Parsed action id=34 move r3 r1 d13 Parse instantiated task from " pickup o2 r1" ... done Parsed action id=77 pickup o2 r1 Parse instantiated task from " open r1 r2 d12" ... done Parsed action id=96 open r1 r2 d12 Parse instantiated task from " move r1 r2 d12" ... done Parsed action id=112 move r1 r2 d12 Parse instantiated task from " putdown o2 r2" ... done Parsed action id=123 putdown o2 r2 Parse instantiated task from " move r2 r1 d12" ... done Parsed action id=135 move r2 r1 d12 Parse instantiated task from " pickup o1 r1" ... done Parsed action id=154 pickup o1 r1 Parse instantiated task from " move r1 r3 d13" ... done Parsed action id=167 move r1 r3 d13 Parse instantiated task from " putdown o1 r3" ... done Parsed action id=178 putdown o1 r3 Size of primitive plan: 11 Reading list of integers from " 2" Root tasks (1): 2 Reading plan given as input Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=2 achieve-goals Parsed method name: achieve-goals-move Subtasks: 9 14 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=9 move_abstract Parsed method name: newMethod24 Subtasks: 11 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=14 achieve-goals Parsed method name: achieve-goals-open Subtasks: 17 23 Parse instantiated task from " open_abstract" ... done Parsed abstract task id=17 open_abstract Parsed method name: newMethod25 Subtasks: 21 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=23 achieve-goals Parsed method name: achieve-goals-move Subtasks: 26 38 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=26 move_abstract Parsed method name: newMethod24 Subtasks: 34 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=38 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 75 80 Parse instantiated task from " pickup_abstract o2" ... done Parsed abstract task id=75 pickup_abstract o2 Parsed method name: newMethod22 Subtasks: 77 Parse instantiated task from " release" ... done Parsed abstract task id=80 release Parsed method name: release-open Subtasks: 94 98 Parse instantiated task from " open_abstract" ... done Parsed abstract task id=94 open_abstract Parsed method name: newMethod25 Subtasks: 96 Parse instantiated task from " release" ... done Parsed abstract task id=98 release Parsed method name: release-move Subtasks: 107 113 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=107 move_abstract Parsed method name: newMethod24 Subtasks: 112 Parse instantiated task from " release" ... done Parsed abstract task id=113 release Parsed method name: release-putdown_abstract Subtasks: 120 125 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=120 putdown_abstract Parsed method name: newMethod23 Subtasks: 123 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=125 achieve-goals Parsed method name: achieve-goals-move Subtasks: 130 139 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=130 move_abstract Parsed method name: newMethod24 Subtasks: 135 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=139 achieve-goals Parsed method name: achieve-goals-pickup Subtasks: 152 156 Parse instantiated task from " pickup_abstract o1" ... done Parsed abstract task id=152 pickup_abstract o1 Parsed method name: newMethod22 Subtasks: 154 Parse instantiated task from " release" ... done Parsed abstract task id=156 release Parsed method name: release-move Subtasks: 162 168 Parse instantiated task from " move_abstract" ... done Parsed abstract task id=162 move_abstract Parsed method name: newMethod24 Subtasks: 167 Parse instantiated task from " release" ... done Parsed abstract task id=168 release Parsed method name: release-putdown_abstract Subtasks: 176 179 Parse instantiated task from " putdown_abstract" ... done Parsed abstract task id=176 putdown_abstract Parsed method name: newMethod23 Subtasks: 178 Parse instantiated task from " achieve-goals" ... done Parsed abstract task id=179 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 2 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=2 Matching Task 9 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 14 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=2 Generating Matchings for task with id=9 Matching Task 11 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=9 Generating Matchings for task with id=14 Matching Task 17 Curpos=0 #sources=1 Task is: open_abstract Attempting matching with source __t_id_10 Matching Task 23 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=14 Generating Matchings for task with id=17 Matching Task 21 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=17 Generating Matchings for task with id=23 Matching Task 26 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 38 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=23 Generating Matchings for task with id=26 Matching Task 34 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=26 Generating Matchings for task with id=38 Matching Task 75 Curpos=0 #sources=1 Task is: pickup_abstract o2 Attempting matching with source __t_id_6 Setting ?obj = o2 Matching Task 80 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=38 Generating Matchings for task with id=75 Matching Task 77 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=75 Generating Matchings for task with id=80 Matching Task 94 Curpos=0 #sources=1 Task is: open_abstract Attempting matching with source __t_id_4 Matching Task 98 Curpos=1 #sources=1 Task is: release Attempting matching with source __t_id_5 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=80 Generating Matchings for task with id=94 Matching Task 96 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=94 Generating Matchings for task with id=98 Matching Task 107 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 113 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=98 Generating Matchings for task with id=107 Matching Task 112 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=107 Generating Matchings for task with id=113 Matching Task 120 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 125 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=113 Generating Matchings for task with id=120 Matching Task 123 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=120 Generating Matchings for task with id=125 Matching Task 130 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_8 Matching Task 139 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=125 Generating Matchings for task with id=130 Matching Task 135 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=130 Generating Matchings for task with id=139 Matching Task 152 Curpos=0 #sources=1 Task is: pickup_abstract o1 Attempting matching with source __t_id_6 Setting ?obj = o1 Matching Task 156 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=139 Generating Matchings for task with id=152 Matching Task 154 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=152 Generating Matchings for task with id=156 Matching Task 162 Curpos=0 #sources=1 Task is: move_abstract Attempting matching with source __t_id_2 Matching Task 168 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=156 Generating Matchings for task with id=162 Matching Task 167 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=162 Generating Matchings for task with id=168 Matching Task 176 Curpos=0 #sources=1 Task is: putdown_abstract Attempting matching with source __t_id_0 Matching Task 179 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=168 Generating Matchings for task with id=176 Matching Task 178 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=176 Generating Matchings for task with id=179 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=179 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=2 matching still unique: true (1) Attempting matching Abstract Task id=9 matching still unique: true (1) Attempting matching Primitive Task id=11 Ordering OK. Abstract Task id=14 matching still unique: true (1) Attempting matching Abstract Task id=17 matching still unique: true (1) Attempting matching Primitive Task id=21 Ordering OK. Abstract Task id=23 matching still unique: true (1) Attempting matching Abstract Task id=26 matching still unique: true (1) Attempting matching Primitive Task id=34 Ordering OK. Abstract Task id=38 matching still unique: true (1) Attempting matching Abstract Task id=75 matching still unique: true (1) Attempting matching Primitive Task id=77 Ordering OK. Abstract Task id=80 matching still unique: true (1) Attempting matching Abstract Task id=94 matching still unique: true (1) Attempting matching Primitive Task id=96 Ordering OK. Abstract Task id=98 matching still unique: true (1) Attempting matching Abstract Task id=107 matching still unique: true (1) Attempting matching Primitive Task id=112 Ordering OK. Abstract Task id=113 matching still unique: true (1) Attempting matching Abstract Task id=120 matching still unique: true (1) Attempting matching Primitive Task id=123 Ordering OK. Abstract Task id=125 matching still unique: true (1) Attempting matching Abstract Task id=130 matching still unique: true (1) Attempting matching Primitive Task id=135 Ordering OK. Abstract Task id=139 matching still unique: true (1) Attempting matching Abstract Task id=152 matching still unique: true (1) Attempting matching Primitive Task id=154 Ordering OK. Abstract Task id=156 matching still unique: true (1) Attempting matching Abstract Task id=162 matching still unique: true (1) Attempting matching Primitive Task id=167 Ordering OK. Abstract Task id=168 matching still unique: true (1) Attempting matching Abstract Task id=176 matching still unique: true (1) Attempting matching Primitive Task id=178 Ordering OK. Abstract Task id=179 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 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 9 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 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 11 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 -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 -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 14 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 17 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 21 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 21 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 -22 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 -18 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 23 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 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 34 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 34 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 -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 -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 38 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 75 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 77 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 77 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: 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 holding o2 in o1 r1 rloc r1 Executing plan time=1 #sources=1 Source -78 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 -76 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 80 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 94 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 96 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 96 Task is: open r1 r2 d12 Applying effects of the action. Removing fact from state: closed d12 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 -97 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 -95 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 98 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 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 112 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 112 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 -113 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 113 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 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 123 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 123 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 -124 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 125 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 130 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 135 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 135 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 -136 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 -131 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 139 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 152 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: 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 -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 -153 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 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 162 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 167 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 167 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 -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 -163 is a dummy for the end of a task. I can greedily take this source without making any mistake. Executing plan time=1 #sources=1 Source 168 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 176 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 178 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 178 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 -179 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 -177 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 179 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 -180 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 -169 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 -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 -126 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 -114 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 -99 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 -81 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 -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 -24 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 -15 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 -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