343 lines
12 KiB
Plaintext
343 lines
12 KiB
Plaintext
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Madagascar 0.99999 31/01/2018 20:14:07 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-4.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192
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Domain: barman
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Problem: prob
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Parser: 1968 ground actions and 337 state variables
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Invariants: 0 1 2 3 0.00 secs
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Goal: conjunctive
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Simplified: 1230 ground actions and 234 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 240)
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Plan type: E-step
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Allocated 32 MB permanent (total 130 MB)
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Horizon 0: 234 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 11664 variables
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Allocated 32 MB (total 316 MB)
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Horizon 10: 23094 variables
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5 UNSAT (61 decisions 61 conflicts)
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Horizon 15: 34524 variables
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Horizon 20: 45954 variables
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Horizon 25: 57384 variables
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Horizon 30: 68814 variables
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Horizon 35: 80244 variables
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Horizon 40: 91674 variables
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Horizon 45: 103104 variables
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Horizon 50: 114534 variables
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Horizon 55: 125964 variables
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Horizon 60: 137394 variables
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Horizon 65: 148824 variables
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Horizon 70: 160254 variables
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Horizon 75: 171684 variables
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Horizon 80: 183114 variables
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Horizon 85: 194544 variables
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10 UNSAT (1033 decisions 946 conflicts)
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Allocated 32 MB permanent (total 1761 MB)
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Horizon 90: 205974 variables
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Horizon 95: 217404 variables
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Horizon 100: 228834 variables
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Horizon 105: 240264 variables
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Horizon 110: 251694 variables
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GC: 11.24 MB
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SAT (18 ID 1668 decisions 691 conflicts 205974 variables)
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PLAN FOUND: 90 steps
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STEP 0: grasp(left,shot10)
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STEP 1.0: fill-shot(shot10,ingredient4,left,right,dispenser4)
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STEP 1.1: grasp(right,shot9) leave(left,shot10)
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STEP 2.0: fill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 2.1: grasp(left,shot10)
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STEP 3.0: pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,left,l0,l1)
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STEP 3.1: leave(left,shot10)
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STEP 4.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot9,ingredient2,shaker1,right,l1,l2)
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STEP 4.1: leave(right,shot9)
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STEP 5.0: shake(cocktail5,ingredient2,ingredient4,shaker1,left,right)
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STEP 5.1: grasp(right,shot10)
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STEP 6.0: pour-shaker-to-shot(cocktail5,shot1,left,shaker1,l2,l1)
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STEP 6.1: leave(left,shaker1)
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STEP 7: clean-shot(shot10,ingredient4,right,left)
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STEP 8.0: fill-shot(shot10,ingredient1,right,left,dispenser1)
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STEP 8.1: grasp(left,shaker1) leave(right,shot10)
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STEP 9: empty-shaker(left,shaker1,cocktail5,l1,l0)
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STEP 10.0: clean-shaker(left,right,shaker1)
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STEP 10.1: grasp(right,shot6) leave(left,shaker1)
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STEP 11.0: fill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 11.1: grasp(left,shot3)
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STEP 12.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,right,l0,l1)
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STEP 12.1: leave(right,shot6)
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STEP 13.0: fill-shot(shot3,ingredient4,left,right,dispenser4)
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STEP 13.1: grasp(right,shaker1)
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STEP 14.0: pour-shot-to-used-shaker(shot3,ingredient4,shaker1,left,l1,l2)
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STEP 14.1: leave(left,shot3)
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STEP 15: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
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STEP 16: pour-shaker-to-shot(cocktail7,shot2,right,shaker1,l2,l1)
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STEP 17: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 18.0: clean-shaker(right,left,shaker1)
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STEP 18.1: grasp(left,shot3) leave(right,shaker1)
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STEP 19.0: clean-shot(shot3,ingredient4,left,right)
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STEP 19.1: grasp(right,shot6) leave(left,shot3)
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STEP 20.0: refill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 20.1: grasp(left,shot9)
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STEP 21.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,right,l0,l1)
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STEP 21.1: leave(right,shot6)
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STEP 22.0: refill-shot(shot9,ingredient2,left,right,dispenser2)
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STEP 22.1: grasp(right,shaker1)
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STEP 23.0: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
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STEP 23.1: leave(left,shot9)
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STEP 24.0: shake(cocktail6,ingredient2,ingredient3,shaker1,right,left)
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STEP 24.1: grasp(left,shot10)
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STEP 25: leave(left,shot10) pour-shaker-to-shot(cocktail6,shot3,right,shaker1,l2,l1)
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STEP 26: empty-shaker(right,shaker1,cocktail6,l1,l0)
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STEP 27.0: clean-shaker(right,left,shaker1)
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STEP 27.1: grasp(left,shot6) leave(right,shaker1)
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STEP 28.0: refill-shot(shot6,ingredient3,left,right,dispenser3)
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STEP 28.1: grasp(right,shot10)
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STEP 29.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,left,l0,l1)
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STEP 29.1: leave(left,shot6)
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STEP 30.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient1,shaker1,right,l1,l2)
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STEP 30.1: leave(right,shot10)
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STEP 31.0: shake(cocktail1,ingredient1,ingredient3,shaker1,left,right)
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STEP 31.1: grasp(right,shot5)
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STEP 32.0: empty-shaker(left,shaker1,cocktail1,l2,l0)
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STEP 32.1: leave(left,shaker1)
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STEP 33.0: fill-shot(shot5,ingredient1,right,left,dispenser1)
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STEP 33.1: grasp(left,shot8) leave(right,shot5)
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STEP 34.0: fill-shot(shot8,ingredient3,left,right,dispenser3)
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STEP 34.1: grasp(right,shot10) leave(left,shot8)
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STEP 35.0: refill-shot(shot10,ingredient1,right,left,dispenser1)
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STEP 35.1: grasp(left,shaker1) leave(right,shot10)
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STEP 36.0: clean-shaker(left,right,shaker1)
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STEP 36.1: grasp(right,shot10) leave(left,shaker1)
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STEP 37.0: grasp(left,shot8) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,right,l0,l1)
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STEP 37.1: leave(right,shot10)
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STEP 38.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
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STEP 38.1: leave(left,shot8)
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STEP 39.0: shake(cocktail2,ingredient1,ingredient3,shaker1,right,left)
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STEP 39.1: grasp(left,shot5)
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STEP 40.0: empty-shot(left,shot5,ingredient1) pour-shaker-to-shot(cocktail2,shot4,right,shaker1,l2,l1)
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STEP 40.1: leave(left,shot5)
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STEP 41: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 42.0: clean-shaker(right,left,shaker1)
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STEP 42.1: leave(right,shaker1)
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STEP 43: grasp(left,shaker1) grasp(right,shot6)
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STEP 44: leave(left,shaker1)
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STEP 45.0: refill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 45.1: grasp(left,shot10) leave(right,shot6)
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STEP 46.0: refill-shot(shot10,ingredient1,left,right,dispenser1)
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STEP 46.1: grasp(right,shot7)
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STEP 47.0: pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,left,l0,l1)
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STEP 47.1: leave(left,shot10)
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STEP 48.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 48.1: grasp(left,shot5)
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STEP 49.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 49.1: leave(right,shot7)
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STEP 50.0: clean-shot(shot5,ingredient1,left,right)
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STEP 50.1: grasp(right,shaker1) leave(left,shot5)
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STEP 51.0: shake(cocktail1,ingredient1,ingredient3,shaker1,right,left)
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STEP 51.1: grasp(left,shot6)
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STEP 52.0: empty-shot(left,shot6,ingredient3) pour-shaker-to-shot(cocktail1,shot5,right,shaker1,l2,l1)
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STEP 52.1: leave(left,shot6) leave(right,shaker1)
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STEP 53: grasp(left,shaker1)
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STEP 54: empty-shaker(left,shaker1,cocktail1,l1,l0)
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STEP 55.0: clean-shaker(left,right,shaker1)
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STEP 55.1: grasp(right,shot10) leave(left,shaker1)
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STEP 56: clean-shot(shot10,ingredient1,right,left)
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STEP 57.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
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STEP 57.1: grasp(left,shot6)
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STEP 58.0: pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
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STEP 58.1: leave(right,shot10)
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STEP 59.0: clean-shot(shot6,ingredient3,left,right)
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STEP 59.1: grasp(right,shot7) leave(left,shot6)
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STEP 60.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 60.1: grasp(left,shaker1) leave(right,shot7)
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STEP 61: grasp(right,shot7)
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STEP 62.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 62.1: leave(right,shot7)
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STEP 63.0: shake(cocktail4,ingredient3,ingredient4,shaker1,left,right)
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STEP 63.1: grasp(right,shot10)
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STEP 64.0: pour-shaker-to-shot(cocktail4,shot6,left,shaker1,l2,l1)
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STEP 64.1: leave(left,shaker1)
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STEP 65: clean-shot(shot10,ingredient4,right,left)
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STEP 66.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
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STEP 66.1: grasp(left,shaker1) leave(right,shot10)
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STEP 67.0: empty-shaker(left,shaker1,cocktail4,l1,l0) grasp(right,shot9)
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STEP 67.1: leave(left,shaker1)
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STEP 68.0: refill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 68.1: grasp(left,shaker1) leave(right,shot9)
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STEP 69.0: clean-shaker(left,right,shaker1)
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STEP 69.1: leave(left,shaker1)
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STEP 70: grasp(left,shot7) grasp(right,shaker1)
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STEP 71: leave(right,shaker1)
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STEP 72.0: clean-shot(shot7,ingredient3,left,right)
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STEP 72.1: grasp(right,shot10) leave(left,shot7)
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STEP 73.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,right,l0,l1)
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STEP 73.1: leave(right,shot10)
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STEP 74.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
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STEP 74.1: leave(left,shot9)
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STEP 75.0: shake(cocktail3,ingredient3,ingredient2,shaker1,right,left)
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STEP 75.1: grasp(left,shot8)
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STEP 76.0: pour-shaker-to-shot(cocktail3,shot7,right,shaker1,l2,l1)
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STEP 76.1: leave(right,shaker1)
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STEP 77.0: clean-shot(shot8,ingredient3,left,right)
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STEP 77.1: grasp(right,shaker1) leave(left,shot8)
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STEP 78: empty-shaker(right,shaker1,cocktail3,l1,l0)
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STEP 79.0: clean-shaker(right,left,shaker1)
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STEP 79.1: grasp(left,shot8) leave(right,shaker1)
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STEP 80.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 80.1: grasp(right,shot9)
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STEP 81: leave(right,shot9) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 82: clean-shot(shot8,ingredient1,left,right)
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STEP 83.0: fill-shot(shot8,ingredient3,left,right,dispenser3)
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STEP 83.1: grasp(right,shaker1)
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STEP 84.0: pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
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STEP 84.1: leave(left,shot8)
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STEP 85.0: shake(cocktail8,ingredient1,ingredient3,shaker1,right,left)
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STEP 85.1: grasp(left,shot8) leave(right,shaker1)
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STEP 86.0: clean-shot(shot8,ingredient3,left,right)
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STEP 86.1: grasp(right,shaker1) leave(left,shot8)
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STEP 87.0: grasp(left,shot9) pour-shaker-to-shot(cocktail8,shot8,right,shaker1,l2,l1)
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STEP 87.1: leave(right,shaker1)
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STEP 88: refill-shot(shot9,ingredient2,left,right,dispenser2)
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193 actions in the plan.
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Cost of the plan is 382.
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# statistics in YAML format
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---
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runtime:
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total: 4.49 # [s]
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preprocessing: 0.02 # [s]
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maxLearnedClauseLength: 7537
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groundActions:
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afterParsing: 1968
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afterPreprocessing: 1230
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stateVariables:
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afterParsing: 337
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afterPreprocessing: 234
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stronglyConnectedComponents:
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maxSize: 240
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plan:
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found: true
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length: 90
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actions: 193
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iterations:
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- horizon: 0
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 234
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- horizon: 5
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result: unsatisfiable
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conflicts: 61
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decisions: 61
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variables: 11664
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- horizon: 10
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result: unsatisfiable
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conflicts: 946
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decisions: 1033
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variables: 23094
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- horizon: 15
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result: unknown
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conflicts: 3064
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decisions: 3945
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variables: 34524
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- horizon: 20
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result: unknown
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conflicts: 2826
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decisions: 3958
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variables: 45954
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- horizon: 25
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result: unknown
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conflicts: 2525
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decisions: 3961
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variables: 57384
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- horizon: 30
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result: unknown
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conflicts: 2286
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decisions: 3753
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variables: 68814
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- horizon: 35
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result: unknown
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conflicts: 2042
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decisions: 3530
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variables: 80244
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- horizon: 40
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result: unknown
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conflicts: 1861
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decisions: 3326
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variables: 91674
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- horizon: 45
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|
result: unknown
|
||
|
|
conflicts: 1683
|
||
|
|
decisions: 3075
|
||
|
|
variables: 103104
|
||
|
|
- horizon: 50
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1502
|
||
|
|
decisions: 2972
|
||
|
|
variables: 114534
|
||
|
|
- horizon: 55
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1380
|
||
|
|
decisions: 2674
|
||
|
|
variables: 125964
|
||
|
|
- horizon: 60
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1262
|
||
|
|
decisions: 2578
|
||
|
|
variables: 137394
|
||
|
|
- horizon: 65
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1142
|
||
|
|
decisions: 2418
|
||
|
|
variables: 148824
|
||
|
|
- horizon: 70
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1023
|
||
|
|
decisions: 2224
|
||
|
|
variables: 160254
|
||
|
|
- horizon: 75
|
||
|
|
result: unknown
|
||
|
|
conflicts: 903
|
||
|
|
decisions: 1930
|
||
|
|
variables: 171684
|
||
|
|
- horizon: 80
|
||
|
|
result: unknown
|
||
|
|
conflicts: 842
|
||
|
|
decisions: 1617
|
||
|
|
variables: 183114
|
||
|
|
- horizon: 85
|
||
|
|
result: unknown
|
||
|
|
conflicts: 781
|
||
|
|
decisions: 1679
|
||
|
|
variables: 194544
|
||
|
|
- horizon: 90
|
||
|
|
result: satisfiable
|
||
|
|
conflicts: 691
|
||
|
|
decisions: 1668
|
||
|
|
variables: 205974
|
||
|
|
- horizon: 95
|
||
|
|
result: unknown
|
||
|
|
conflicts: 600
|
||
|
|
decisions: 1365
|
||
|
|
variables: 217404
|
||
|
|
- horizon: 100
|
||
|
|
result: unknown
|
||
|
|
conflicts: 541
|
||
|
|
decisions: 1262
|
||
|
|
variables: 228834
|
||
|
|
- horizon: 105
|
||
|
|
result: unknown
|
||
|
|
conflicts: 541
|
||
|
|
decisions: 1121
|
||
|
|
variables: 240264
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 480
|
||
|
|
decisions: 940
|
||
|
|
variables: 251694
|
||
|
|
...
|
||
|
|
|