Optimal makespan differs across runs on Rover pfile04

[HarrisonOates]

Hi there, I have a question about the semantics of --optimize makespan on non-temporal HDDL problems. Across runs of Rover pfile04 (IPC 2023), the maximum printed timestamp in the final plan is the same (0.6 in all cases), however, the number of distinct timestamps differs. This is unusual behaviour, as in non-temporal HTN settings makespan is typically defined as the minimum number of parallel execution layers (e.g Cavrel, Pellier and Fiorino, ICTAI 2023).

For example, running the latest version of Aries three times yields the following three plans:

**** Plan **** [Makespan 5]

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0] 

**** Plan **** [Makespan 6]

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.5: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]

**** Plan **** [Makespan 7]

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.1: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.3: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.3: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]

Is this the intended behaviour, or should --optimize makespan minimize the number of distinct timestamps in non-temporal settings?

Full Planner Output

`❯ ./aries-plan ../../../Github/ipc2023-domains-main/partial-order/Rover/pfile04.hddl -d ../../../Github/ipc2023-domains-main/partial-order/Rover/domain.hddl --optimize makespan
===== Preprocessing ======
Removed 93 unusable effects
Lifting predicates to state variables:
  - have_soil_analysis:at_soil_sample        [from: have_soil_analysis(1) -> 0:at_soil_sample(0) -> Bool:]
  - have_rock_analysis:at_rock_sample        [from: have_rock_analysis(1) -> 0:at_rock_sample(0) -> Bool:]
  - full:empty                               [from: full(0) -> Bool:empty(0) -> Bool:]
  - store_of                                 [from: store_of(0) -> 1:]
  - on_board                                 [from: on_board(0) -> 1:]
  - equipped_for_rock_analysis               [from: equipped_for_rock_analysis() -> 0:]
  - calibration_target                       [from: calibration_target(0) -> 1:]
  - at_lander                                [from: at_lander(0) -> 1:]
Transforming static state functions as table constraints:
 - can_traverse
 - equipped_for_imaging
 - equipped_for_soil_analysis
 - supports
 - visible
 - visible_from
 - store_of
 - on_board
 - equipped_for_rock_analysis
 - calibration_target
 - at_lander
Rolling, rolling, rolling... Rawhide!
==========================
Useful values:
 - available(rover):true
 - have_image(rover, objective, mode):true
 - visited(waypoint):false
 - full(store):empty
 - full(store):full
 - at(rover, waypoint):false
 - have_soil_analysis(waypoint):at_soil_sample
 - calibrated(camera, rover):true
 - at(rover, waypoint):true
 - have_rock_analysis(waypoint):at_rock_sample
 - channel_free(lander):true
 - have_rock_analysis(waypoint):rover
 - have_soil_analysis(waypoint):rover
 - full(store):★any★
Continuous fluents:
 - available
   - available(rover):true
single useful: available(rover):true
 - channel_free
   - channel_free(lander):true
single useful: channel_free(lander):true
 - have_soil_analysis:at_soil_sample
   - have_soil_analysis(waypoint):rover
   - have_soil_analysis(waypoint):at_soil_sample
 - have_rock_analysis:at_rock_sample
   - have_rock_analysis(waypoint):rover
   - have_rock_analysis(waypoint):at_rock_sample
 - full:empty
   - full(store):empty
single useful: full(store):empty

Fluent hierarchy:
 - communicated_image_data
 - communicated_soil_data
 - communicated_rock_data
 - have_soil_analysis   full   have_rock_analysis
 - calibrated   have_image
 - at
 - visited

Action hierarchy:
  [0] communicate_image_data
  [1] communicate_soil_data
  [2] communicate_rock_data
  [3] sample_soil
  [3] drop
  [3] sample_rock
  [4] calibrate
  [4] take_image
  [5] navigate
  [6] unvisit
  [6] visit
  [7] m-navigate_abs-1
  [7] m-empty-store-1
  [7] m-calibrate_abs
  [7] m-send_soil_data
  [7] m-get_soil_data
  [7] m-navigate_abs-3
  [7] m-empty-store-2
  [7] m-send_rock_data
  [7] m-get_rock_data
  [7] m-get_image_data
  [7] m-navigate_abs-2
  [7] m-send_image_data
  [7] m-navigate_abs-4
∞ Solving with depth ∞
  [0.000s] Populated


**** Decomposition ****

==>
51 (calibrate rover1 camera0 objective0 waypoint2)
38 (navigate rover1 waypoint2 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 16 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 38
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
48 (navigate_abs rover1 waypoint2) -> m-navigate_abs-2
9 (empty-store rover0store rover0) -> m-empty-store-1
16 (empty-store rover1store rover1) -> m-empty-store-1
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 58 60
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
58 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.1: (calibrate rover1 camera0 objective0 waypoint2) [0.0]
  0.2: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.7: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.8: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
38 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 16 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 38
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
9 (empty-store rover0store rover0) -> m-empty-store-1
16 (empty-store rover1store rover1) -> m-empty-store-1
48 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 58 60
58 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.7: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
38 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 16 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 38
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
9 (empty-store rover0store rover0) -> m-empty-store-1
16 (empty-store rover1store rover1) -> m-empty-store-1
48 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 58 60
58 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.5: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]


==== Worker 1
Solver is running

==== Worker 2
Solver is running

==== Worker 3
Solver is running

==== Worker 4
solutions           : 3
restarts            : 0
decisions           : 426          (73.6k /sec)
conflicts           : 79           (13.7k /sec)
dom-updates         : 35,365       (6.11M /sec)
=================
Solvers             :             SAT        DiffLog             CP       Equality          Optim
% CPU (propagation) :         40.15 %        56.37 %         1.54 %         0.32 %         0.28 %
# propagation loops :           1,218          1,189          1,139          1,139          1,189
# bound updates     :          16,444         18,918              0              0              3
# conflicts         :              29             50              0              0              0
=================
Init time           : 0.006610 s
Solve time          : 0.005786 s

====== SAT =====
DB size              : 11928
Num unit propagations: 13119
====== Optim =====
====== DiffLog =====
# nodes: 744
# propagators: 16844
# propagations: 0
# domain updates: 4621
# bounds deactivations: 11694
# theory propagations: 0
# theory deactivations: 0
====== Equality =====
num edge props1 0
num edge props+ 0
num edge props- 0
num edge props1 ++  0
num edge props1 +-  0
num edge props1 -+  0
num edge props1 eff  0
num edge props2 ++  0
num edge props2 +-  0
num edge props2 -+  0

====== CP =====
# constraints: 0
# propagations: 0
  [0.043s] Solved


**** Decomposition ****

==>
38 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 16 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 38
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
9 (empty-store rover0store rover0) -> m-empty-store-1
16 (empty-store rover1store rover1) -> m-empty-store-1
48 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 58 60
58 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.5: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0] 
  
---------------------------------------------------------------------------------------------------------

❯ ./aries-plan ../../../Github/ipc2023-domains-main/partial-order/Rover/pfile04.hddl -d ../../../Github/ipc2023-domains-main/partial-order/Rover/domain.hddl --optimize makespan
===== Preprocessing ======
Removed 93 unusable effects
Lifting predicates to state variables:
  - have_soil_analysis:at_soil_sample        [from: have_soil_analysis(1) -> 0:at_soil_sample(0) -> Bool:]
  - have_rock_analysis:at_rock_sample        [from: have_rock_analysis(1) -> 0:at_rock_sample(0) -> Bool:]
  - full:empty                               [from: full(0) -> Bool:empty(0) -> Bool:]
  - store_of                                 [from: store_of(0) -> 1:]
  - on_board                                 [from: on_board(0) -> 1:]
  - equipped_for_rock_analysis               [from: equipped_for_rock_analysis() -> 0:]
  - calibration_target                       [from: calibration_target(0) -> 1:]
  - at_lander                                [from: at_lander(0) -> 1:]
Transforming static state functions as table constraints:
 - can_traverse
 - equipped_for_imaging
 - equipped_for_soil_analysis
 - supports
 - visible
 - visible_from
 - store_of
 - on_board
 - equipped_for_rock_analysis
 - calibration_target
 - at_lander
Rolling, rolling, rolling... Rawhide!
==========================
Useful values:
 - channel_free(lander):true
 - full(store):empty
 - have_rock_analysis(waypoint):rover
 - have_soil_analysis(waypoint):at_soil_sample
 - have_rock_analysis(waypoint):at_rock_sample
 - full(store):full
 - calibrated(camera, rover):true
 - at(rover, waypoint):false
 - at(rover, waypoint):true
 - visited(waypoint):false
 - have_soil_analysis(waypoint):rover
 - have_image(rover, objective, mode):true
 - full(store):★any★
 - available(rover):true
Continuous fluents:
 - available
   - available(rover):true
single useful: available(rover):true
 - channel_free
   - channel_free(lander):true
single useful: channel_free(lander):true
 - have_soil_analysis:at_soil_sample
   - have_soil_analysis(waypoint):rover
   - have_soil_analysis(waypoint):at_soil_sample
 - have_rock_analysis:at_rock_sample
   - have_rock_analysis(waypoint):at_rock_sample
   - have_rock_analysis(waypoint):rover
 - full:empty
   - full(store):empty
single useful: full(store):empty

Fluent hierarchy:
 - communicated_rock_data
 - communicated_soil_data
 - have_soil_analysis   full   have_rock_analysis
 - communicated_image_data
 - calibrated   have_image
 - at
 - visited

Action hierarchy:
  [0] communicate_rock_data
  [1] communicate_soil_data
  [2] drop
  [2] sample_rock
  [2] sample_soil
  [3] communicate_image_data
  [4] take_image
  [4] calibrate
  [5] navigate
  [6] unvisit
  [6] visit
  [7] m-empty-store-2
  [7] m-navigate_abs-1
  [7] m-navigate_abs-4
  [7] m-send_image_data
  [7] m-navigate_abs-2
  [7] m-calibrate_abs
  [7] m-navigate_abs-3
  [7] m-send_soil_data
  [7] m-get_soil_data
  [7] m-empty-store-1
  [7] m-get_rock_data
  [7] m-send_rock_data
  [7] m-get_image_data
∞ Solving with depth ∞
  [0.000s] Populated


**** Decomposition ****

==>
51 (calibrate rover1 camera0 objective0 waypoint2)
10 (sample_soil rover0 rover0store waypoint3)
37 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 47 51
47 (navigate_abs rover1 waypoint2) -> m-navigate_abs-2
8 (empty-store rover0store rover0) -> m-empty-store-1
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
17 (empty-store rover1store rover1) -> m-empty-store-1
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 44 46
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
44 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.1: (calibrate rover1 camera0 objective0 waypoint2) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.4: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.6: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.7: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.8: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
37 (navigate rover1 waypoint2 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 47 51
8 (empty-store rover0store rover0) -> m-empty-store-1
17 (empty-store rover1store rover1) -> m-empty-store-1
47 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 44 46
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
44 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.7: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
37 (navigate rover1 waypoint2 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 47 51
8 (empty-store rover0store rover0) -> m-empty-store-1
17 (empty-store rover1store rover1) -> m-empty-store-1
47 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 44 46
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
44 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]


==== Worker 1
Solver is running

==== Worker 2
Solver is running

==== Worker 3
Solver is running

==== Worker 4
solutions           : 3
restarts            : 0
decisions           : 611          (84.9k /sec)
conflicts           : 116          (16.1k /sec)
dom-updates         : 42,750       (5.94M /sec)
=================
Solvers             :             SAT        DiffLog             CP       Equality          Optim
% CPU (propagation) :         43.15 %        52.57 %         1.80 %         0.43 %         0.31 %
# propagation loops :           1,840          1,783          1,724          1,724          1,783
# bound updates     :          19,926         22,821              0              0              3
# conflicts         :              57             59              0              0              0
=================
Init time           : 0.006509 s
Solve time          : 0.007193 s

====== SAT =====
DB size              : 11985
Num unit propagations: 15496
====== Optim =====
====== DiffLog =====
# nodes: 744
# propagators: 16844
# propagations: 0
# domain updates: 6558
# bounds deactivations: 13288
# theory propagations: 0
# theory deactivations: 0
====== Equality =====
num edge props1 0
num edge props+ 0
num edge props- 0
num edge props1 ++  0
num edge props1 +-  0
num edge props1 -+  0
num edge props1 eff  0
num edge props2 ++  0
num edge props2 +-  0
num edge props2 -+  0

====== CP =====
# constraints: 0
# propagations: 0
  [0.044s] Solved


**** Decomposition ****

==>
37 (navigate rover1 waypoint2 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 47 51
8 (empty-store rover0store rover0) -> m-empty-store-1
17 (empty-store rover1store rover1) -> m-empty-store-1
47 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 44 46
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
44 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0] 
  
----------------------------------------------------------------------------------------------

❯ ./aries-plan ../../../Github/ipc2023-domains-main/partial-order/Rover/pfile04.hddl -d ../../../Github/ipc2023-domains-main/partial-order/Rover/domain.hddl --optimize makespan
===== Preprocessing ======
Removed 93 unusable effects
Lifting predicates to state variables:
  - have_soil_analysis:at_soil_sample        [from: have_soil_analysis(1) -> 0:at_soil_sample(0) -> Bool:]
  - have_rock_analysis:at_rock_sample        [from: have_rock_analysis(1) -> 0:at_rock_sample(0) -> Bool:]
  - full:empty                               [from: full(0) -> Bool:empty(0) -> Bool:]
  - store_of                                 [from: store_of(0) -> 1:]
  - on_board                                 [from: on_board(0) -> 1:]
  - equipped_for_rock_analysis               [from: equipped_for_rock_analysis() -> 0:]
  - calibration_target                       [from: calibration_target(0) -> 1:]
  - at_lander                                [from: at_lander(0) -> 1:]
Transforming static state functions as table constraints:
 - can_traverse
 - equipped_for_imaging
 - equipped_for_soil_analysis
 - supports
 - visible
 - visible_from
 - store_of
 - on_board
 - equipped_for_rock_analysis
 - calibration_target
 - at_lander
Rolling, rolling, rolling... Rawhide!
==========================
Useful values:
 - calibrated(camera, rover):true
 - full(store):full
 - have_rock_analysis(waypoint):at_rock_sample
 - have_rock_analysis(waypoint):rover
 - full(store):★any★
 - have_soil_analysis(waypoint):rover
 - at(rover, waypoint):true
 - full(store):empty
 - available(rover):true
 - have_soil_analysis(waypoint):at_soil_sample
 - visited(waypoint):false
 - at(rover, waypoint):false
 - have_image(rover, objective, mode):true
 - channel_free(lander):true
Continuous fluents:
 - available
   - available(rover):true
single useful: available(rover):true
 - channel_free
   - channel_free(lander):true
single useful: channel_free(lander):true
 - have_soil_analysis:at_soil_sample
   - have_soil_analysis(waypoint):rover
   - have_soil_analysis(waypoint):at_soil_sample
 - have_rock_analysis:at_rock_sample
   - have_rock_analysis(waypoint):at_rock_sample
   - have_rock_analysis(waypoint):rover
 - full:empty
   - full(store):empty
single useful: full(store):empty

Fluent hierarchy:
 - communicated_image_data
 - calibrated   have_image
 - communicated_soil_data
 - communicated_rock_data
 - have_soil_analysis   full   have_rock_analysis
 - at
 - visited

Action hierarchy:
  [0] communicate_image_data
  [1] calibrate
  [1] take_image
  [2] communicate_soil_data
  [3] communicate_rock_data
  [4] drop
  [4] sample_soil
  [4] sample_rock
  [5] navigate
  [6] unvisit
  [6] visit
  [7] m-empty-store-2
  [7] m-navigate_abs-1
  [7] m-empty-store-1
  [7] m-send_soil_data
  [7] m-get_soil_data
  [7] m-navigate_abs-3
  [7] m-send_rock_data
  [7] m-send_image_data
  [7] m-calibrate_abs
  [7] m-navigate_abs-4
  [7] m-get_rock_data
  [7] m-get_image_data
  [7] m-navigate_abs-2
∞ Solving with depth ∞
  [0.000s] Populated


**** Decomposition ****

==>
51 (calibrate rover1 camera0 objective0 waypoint2)
10 (sample_soil rover0 rover0store waypoint3)
37 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 13 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 22 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
13 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 49 51
49 (navigate_abs rover1 waypoint2) -> m-navigate_abs-2
8 (empty-store rover0store rover0) -> m-empty-store-1
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 34 36
17 (empty-store rover1store rover1) -> m-empty-store-1
22 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
34 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 42 46
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
42 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.1: (calibrate rover1 camera0 objective0 waypoint2) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.4: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.6: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.7: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.8: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
37 (navigate rover1 waypoint2 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
51 (calibrate rover1 camera0 objective0 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 13 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 22 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
13 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 49 51
8 (empty-store rover0store rover0) -> m-empty-store-1
17 (empty-store rover1store rover1) -> m-empty-store-1
49 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 34 36
22 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
34 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 42 46
42 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.7: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
37 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 13 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 22 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
13 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 49 51
8 (empty-store rover0store rover0) -> m-empty-store-1
17 (empty-store rover1store rover1) -> m-empty-store-1
49 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 42 46
22 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
42 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 34 36
34 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.5: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]


==== Worker 1
Solver is running

==== Worker 2
Solver is running

==== Worker 3
Solver is running

==== Worker 4
solutions           : 3
restarts            : 0
decisions           : 670          (88.0k /sec)
conflicts           : 103          (13.5k /sec)
dom-updates         : 44,188       (5.80M /sec)
=================
Solvers             :             SAT        DiffLog             CP       Equality          Optim
% CPU (propagation) :         43.19 %        52.30 %         1.76 %         0.43 %         0.38 %
# propagation loops :           1,960          1,915          1,857          1,857          1,915
# bound updates     :          19,872         24,313              0              0              3
# conflicts         :              45             58              0              0              0
=================
Init time           : 0.006553 s
Solve time          : 0.007616 s

====== SAT =====
DB size              : 11976
Num unit propagations: 15483
====== Optim =====
====== DiffLog =====
# nodes: 744
# propagators: 16844
# propagations: 0
# domain updates: 6804
# bounds deactivations: 14901
# theory propagations: 0
# theory deactivations: 0
====== Equality =====
num edge props1 0
num edge props+ 0
num edge props- 0
num edge props1 ++  0
num edge props1 +-  0
num edge props1 -+  0
num edge props1 eff  0
num edge props2 ++  0
num edge props2 +-  0
num edge props2 -+  0

====== CP =====
# constraints: 0
# propagations: 0
  [0.045s] Solved


**** Decomposition ****

==>
37 (navigate rover1 waypoint2 waypoint1)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 13 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 22 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
13 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 37
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 49 51
8 (empty-store rover0store rover0) -> m-empty-store-1
17 (empty-store rover1store rover1) -> m-empty-store-1
49 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 42 46
22 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
42 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 34 36
34 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 56 60
56 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.2: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.2: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.3: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.4: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.5: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]

❯ ./aries-plan ../../../Github/ipc2023-domains-main/partial-order/Rover/pfile04.hddl -d ../../../Github/ipc2023-domains-main/partial-order/Rover/domain.hddl --optimize makespan
===== Preprocessing ======
Removed 93 unusable effects
Lifting predicates to state variables:
  - have_soil_analysis:at_soil_sample        [from: have_soil_analysis(1) -> 0:at_soil_sample(0) -> Bool:]
  - have_rock_analysis:at_rock_sample        [from: have_rock_analysis(1) -> 0:at_rock_sample(0) -> Bool:]
  - full:empty                               [from: full(0) -> Bool:empty(0) -> Bool:]
  - store_of                                 [from: store_of(0) -> 1:]
  - on_board                                 [from: on_board(0) -> 1:]
  - equipped_for_rock_analysis               [from: equipped_for_rock_analysis() -> 0:]
  - calibration_target                       [from: calibration_target(0) -> 1:]
  - at_lander                                [from: at_lander(0) -> 1:]
Transforming static state functions as table constraints:
 - can_traverse
 - equipped_for_imaging
 - equipped_for_soil_analysis
 - supports
 - visible
 - visible_from
 - store_of
 - on_board
 - equipped_for_rock_analysis
 - calibration_target
 - at_lander
Rolling, rolling, rolling... Rawhide!
==========================
Useful values:
 - full(store):★any★
 - visited(waypoint):false
 - available(rover):true
 - full(store):empty
 - channel_free(lander):true
 - at(rover, waypoint):true
 - at(rover, waypoint):false
 - have_soil_analysis(waypoint):rover
 - have_soil_analysis(waypoint):at_soil_sample
 - have_rock_analysis(waypoint):rover
 - have_image(rover, objective, mode):true
 - calibrated(camera, rover):true
 - have_rock_analysis(waypoint):at_rock_sample
 - full(store):full
Continuous fluents:
 - available
   - available(rover):true
single useful: available(rover):true
 - channel_free
   - channel_free(lander):true
single useful: channel_free(lander):true
 - have_soil_analysis:at_soil_sample
   - have_soil_analysis(waypoint):at_soil_sample
   - have_soil_analysis(waypoint):rover
 - have_rock_analysis:at_rock_sample
   - have_rock_analysis(waypoint):at_rock_sample
   - have_rock_analysis(waypoint):rover
 - full:empty
   - full(store):empty
single useful: full(store):empty

Fluent hierarchy:
 - communicated_soil_data
 - communicated_image_data
 - communicated_rock_data
 - have_soil_analysis   full   have_rock_analysis
 - calibrated   have_image
 - at
 - visited

Action hierarchy:
  [0] communicate_soil_data
  [1] communicate_image_data
  [2] communicate_rock_data
  [3] drop
  [3] sample_rock
  [3] sample_soil
  [4] take_image
  [4] calibrate
  [5] navigate
  [6] visit
  [6] unvisit
  [7] m-calibrate_abs
  [7] m-empty-store-1
  [7] m-send_image_data
  [7] m-navigate_abs-4
  [7] m-get_soil_data
  [7] m-get_rock_data
  [7] m-get_image_data
  [7] m-empty-store-2
  [7] m-send_rock_data
  [7] m-navigate_abs-1
  [7] m-navigate_abs-3
  [7] m-send_soil_data
  [7] m-navigate_abs-2
∞ Solving with depth ∞
  [0.000s] Populated


**** Decomposition ****

==>
70 (navigate rover1 waypoint2 waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
48 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 70
9 (empty-store rover0store rover0) -> m-empty-store-1
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
17 (empty-store rover1store rover1) -> m-empty-store-1
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 33 36
33 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 59 60
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
59 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.1: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.3: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.3: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]
  0.7: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]



**** Decomposition ****

==>
70 (navigate rover1 waypoint2 waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
48 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 70
9 (empty-store rover0store rover0) -> m-empty-store-1
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
17 (empty-store rover1store rover1) -> m-empty-store-1
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 33 36
33 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 59 60
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
59 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.1: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.3: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.3: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]


==== Worker 1
Solver is running

==== Worker 2
solutions           : 2
restarts            : 0
decisions           : 1,339        (532k /sec)
conflicts           : 48           (19.1k /sec)
dom-updates         : 14,178       (5.63M /sec)
=================
Solvers             :             SAT        DiffLog             CP       Equality          Optim
% CPU (propagation) :         56.83 %        37.04 %         1.95 %         0.65 %         0.52 %
# propagation loops :           1,800          1,785          1,752          1,752          1,785
# bound updates     :           6,961          7,216              0              0              1
# conflicts         :              15             33              0              0              0
=================
Init time           : 0.006704 s
Solve time          : 0.002519 s

====== SAT =====
DB size              : 11870
Num unit propagations: 5152
====== Optim =====
====== DiffLog =====
# nodes: 744
# propagators: 16844
# propagations: 0
# domain updates: 3271
# bounds deactivations: 3026
# theory propagations: 0
# theory deactivations: 0
====== Equality =====
num edge props1 0
num edge props+ 0
num edge props- 0
num edge props1 ++  0
num edge props1 +-  0
num edge props1 -+  0
num edge props1 eff  0
num edge props2 ++  0
num edge props2 +-  0
num edge props2 -+  0

====== CP =====
# constraints: 0
# propagations: 0

==== Worker 3
Solver is running

==== Worker 4
Solver is running
  [0.041s] Solved


**** Decomposition ****

==>
70 (navigate rover1 waypoint2 waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 5 9 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 17 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 21 25 26
5 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 48 51
48 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 70
9 (empty-store rover0store rover0) -> m-empty-store-1
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
17 (empty-store rover1store rover1) -> m-empty-store-1
21 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 33 36
33 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 45 46
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 59 60
45 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
59 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

  0.0: (navigate rover1 waypoint2 waypoint1) [0.0]
  0.1: (calibrate rover1 camera0 objective0 waypoint1) [0.0]
  0.2: (sample_soil rover0 rover0store waypoint3) [0.0]
  0.3: (sample_rock rover1 rover1store waypoint1) [0.0]
  0.3: (take_image rover1 waypoint1 objective0 camera0 high_res) [0.0]
  0.4: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0.0]
  0.5: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0.0]
  0.6: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0.0]`

[arbimo]

Thanks for reporting with so much details!

From a quick glance it indeed seems that the function optimized is slightly off in this case.

Being a temporal first planner (with the same back-end for temporal/non-temporal hierarchical/generative), it interprets the makespan as the end time of the lastest action. In your case it is always 0.6 so it is consistent across runs (which at least to me is reassuring as it suggests a fairly shallow problem).

One of the awkwardness of temporal PDDL is that it requires an epsilon separation between any actions depending on each other. In Aries (and all temporal PDDL planners that I know of) it means that the number of epsilon separations on the critical path are accounted for in the makespan.
Normally the expectation is that the "epsilon" is small wrt to action duration so while it is accounted for in the metric in does not impact the structure of the optimal plan.

When you consider non-temporal PDDL, the actions are instantaneous (duration = 0). So actually the only things that is accounted for are the epsilon separations.
For classical (non-hierarchical) planning, l this works well because (when the makespan is minimal) the number of epsilon separation correlates perfectly with the number parallel steps.

In the examples you show however, it seems to be slightly off: even though the makespan is minimized there are "steps" with no actions (e.g. "step" 0.1 in the first plan). Which should not be possible. My intuition is that such separations of "more than 1 epsilon" between successive actions is a left over from the HTN decomposition (e.g. an empty method occupying the 0.1 slot).

I am away from the lab this week, but can have a look the coming one to validate this hypothesis and hopefully provide a fix that should be straightforward.

[arbimo]

Hi @HarrisonOates

I have pushed a PR with a simple fix following the initial idea I had. It seems to work well and indeed reduces the makespan of the plan when no-op tasks are allowed to "disappear" from the schedule. This is indeed necessary when the actions are instantaneous because the "epsilon" time they occupy is no-longer negligible compared to action durations.

Below is an example run on the same rover (ipc 2023) problem. The ARIES_LCP_TIME_SCALE=1 environment variable sets the temporal separation to 1 which makes more sense for non-temporal problems.
Here the makespan is 4 (which should always be one less than the "number of plan steps" that you are interested in).

I would be interested if you have some reference optimal makespans for hierarchical problem to test against on a larger scale.

❯ ARIES_LCP_TIME_SCALE=1  aries-plan pfile04.hddl --optimize makespan
...

**** Decomposition ****

==>
38 (navigate rover1 waypoint2 waypoint1)
10 (sample_soil rover0 rover0store waypoint3)
18 (sample_rock rover1 rover1store waypoint1)
51 (calibrate rover1 camera0 objective0 waypoint1)
25 (take_image rover1 waypoint1 objective0 camera0 high_res)
36 (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2)
60 (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2)
46 (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2)
root 1 2 3
1 (get_soil_data waypoint3) -> m-get_soil_data 4 8 10 11
2 (get_rock_data waypoint1) -> m-get_rock_data 15 16 18 19
3 (get_image_data objective0 high_res) -> m-get_image_data 20 24 25 26
4 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
15 (navigate_abs rover1 waypoint1) -> m-navigate_abs-3 38
20 (calibrate_abs rover1 camera0) -> m-calibrate_abs 49 51
8 (empty-store rover0store rover0) -> m-empty-store-1
16 (empty-store rover1store rover1) -> m-empty-store-1
49 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
11 (send_soil_data rover0 waypoint3) -> m-send_soil_data 32 36
19 (send_rock_data rover1 waypoint1) -> m-send_rock_data 42 46
24 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
32 (navigate_abs rover0 waypoint3) -> m-navigate_abs-2
42 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
26 (send_image_data rover1 objective0 high_res) -> m-send_image_data 59 60
59 (navigate_abs rover1 waypoint1) -> m-navigate_abs-2
<==


**** Plan ****

    0: (navigate rover1 waypoint2 waypoint1) [0]
    1: (sample_soil rover0 rover0store waypoint3) [0]
    1: (sample_rock rover1 rover1store waypoint1) [0]
    1: (calibrate rover1 camera0 objective0 waypoint1) [0]
    2: (take_image rover1 waypoint1 objective0 camera0 high_res) [0]
    2: (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2) [0]
    3: (communicate_image_data rover1 general objective0 high_res waypoint1 waypoint2) [0]
    4: (communicate_rock_data rover1 general waypoint1 waypoint1 waypoint2) [0]

[arbimo]

@HarrisonOates have you had time to test these?

[HarrisonOates]

Hi @arbimo, I've finished running Aries on the test cases I have access to solutions for. It matches the optimal solution on all of them.