úÎ\w    SafeVmap of PrimitiveTask to conditions, value is tuple of pre-condtions and post-condtionsXmap of compoundTask to conditions, value is tuple of pre-conditions and separated tasks %separate compound task to smaller one 2execute primitive task and update current condtion       Safe         "htn-0.1.0.0-476bkDzH1DHIoJ46dh8oZKAlgorithms.HtnAlgorithms.Htn.InternalDomain primitiveMap compoundMapTask PrimitiveCompoundInvalid CompoundTask PrimitiveTaskTermhtn breakdownexecutehtn'include $fShowDomain