//PDDLPrinter.printDomainFile(unground, System.out);
//PDDLPrinter.printProblemFile(unground, System.out);
GroundProblem ground = unground.ground();
long afterGrounding = System.currentTimeMillis();
// ********************************
// Search for a plan
// ********************************
// Get the initial state
TemporalMetricState initialState = ground.getTemporalMetricInitialState();
State goalState = goalState = performFFSearch(initialState);
long afterPlanning = System.currentTimeMillis();