448 lines
15 KiB
Plaintext
448 lines
15 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-5.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: 2276 ground actions and 391 state variables
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Invariants: 0 1 2 3 0.02 secs
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Goal: conjunctive
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Simplified: 1420 ground actions and 267 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.02 secs (max SCC size 264)
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Plan type: E-step
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Allocated 32 MB permanent (total 131 MB)
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Horizon 0: 267 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 13452 variables
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Allocated 32 MB (total 318 MB)
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Horizon 10: 26637 variables
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5 UNSAT (67 decisions 67 conflicts)
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Horizon 15: 39822 variables
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Horizon 20: 53007 variables
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Horizon 25: 66192 variables
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Horizon 30: 79377 variables
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Horizon 35: 92562 variables
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Horizon 40: 105747 variables
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Horizon 45: 118932 variables
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Horizon 50: 132117 variables
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Horizon 55: 145302 variables
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Horizon 60: 158487 variables
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Horizon 65: 171672 variables
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10 UNSAT (754 decisions 699 conflicts)
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Horizon 70: 184857 variables
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Horizon 75: 198042 variables
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Horizon 80: 211227 variables
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Allocated 32 MB permanent (total 1690 MB)
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Horizon 85: 224412 variables
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Horizon 90: 237597 variables
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Horizon 95: 250782 variables
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Horizon 100: 263967 variables
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Horizon 105: 277152 variables
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Horizon 110: 290337 variables
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GC: 11.83 MB
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GC: 14.91 MB
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15 UNSAT (6343 decisions 5272 conflicts)
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Horizon 115: 303522 variables
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GC: 27.71 MB
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GC: 20.82 MB
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GC: 19.72 MB
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GC: 18.93 MB
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GC: 21.13 MB
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GC: 22.81 MB
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GC: 22.33 MB
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GC: 22.80 MB
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GC: 22.59 MB
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GC: 23.79 MB
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Allocated 32 MB (total 2276 MB)
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GC: 25.20 MB
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GC: 24.64 MB
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GC: 24.86 MB
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GC: 26.73 MB
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GC: 28.82 MB
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GC: 27.81 MB
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GC: 29.70 MB
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GC: 29.33 MB
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GC: 32.63 MB
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GC: 31.49 MB
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GC: 33.42 MB
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GC: 34.02 MB
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GC: 35.65 MB
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GC: 36.75 MB
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GC: 39.68 MB
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GC: 39.29 MB
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GC: 39.82 MB
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GC: 42.14 MB
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GC: 39.88 MB
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GC: 44.35 MB
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GC: 43.31 MB
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GC: 45.51 MB
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GC: 44.69 MB
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GC: 46.12 MB
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Allocated 32 MB (total 2308 MB)
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GC: 46.69 MB
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GC: 47.36 MB
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GC: 47.19 MB
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GC: 49.78 MB
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GC: 50.79 MB
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GC: 51.01 MB
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GC: 53.24 MB
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GC: 53.90 MB
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GC: 59.85 MB
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GC: 60.15 MB
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GC: 59.92 MB
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GC: 61.20 MB
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GC: 61.92 MB
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GC: 64.37 MB
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GC: 62.30 MB
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GC: 63.87 MB
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GC: 68.86 MB
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GC: 67.06 MB
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GC: 66.30 MB
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GC: 66.69 MB
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GC: 71.07 MB
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GC: 71.10 MB
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Allocated 32 MB (total 2340 MB)
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GC: 71.56 MB
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GC: 73.81 MB
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GC: 73.28 MB
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GC: 74.21 MB
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GC: 75.68 MB
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GC: 76.47 MB
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GC: 77.33 MB
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SAT (23 ID 75780 decisions 35813 conflicts 303522 variables)
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PLAN FOUND: 115 steps
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STEP 0: grasp(right,shot11)
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STEP 1.0: fill-shot(shot11,ingredient3,right,left,dispenser3)
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STEP 1.1: grasp(left,shot7)
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STEP 2.0: pour-shot-to-clean-shaker(shot11,ingredient3,shaker1,right,l0,l1)
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STEP 2.1: leave(right,shot11)
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STEP 3.0: fill-shot(shot7,ingredient4,left,right,dispenser4)
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STEP 3.1: grasp(right,shaker1)
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STEP 4.0: pour-shot-to-used-shaker(shot7,ingredient4,shaker1,left,l1,l2)
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STEP 4.1: leave(left,shot7)
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STEP 5: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
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STEP 6: pour-shaker-to-shot(cocktail7,shot1,right,shaker1,l2,l1)
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STEP 7: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 8.0: clean-shaker(right,left,shaker1)
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STEP 8.1: grasp(left,shot3) leave(right,shaker1)
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STEP 9.0: fill-shot(shot3,ingredient4,left,right,dispenser4)
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STEP 9.1: grasp(right,shot11)
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STEP 10.0: pour-shot-to-clean-shaker(shot3,ingredient4,shaker1,left,l0,l1)
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STEP 10.1: leave(left,shot3)
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STEP 11: clean-shot(shot11,ingredient3,right,left)
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STEP 12.0: fill-shot(shot11,ingredient1,right,left,dispenser1)
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STEP 12.1: grasp(left,shaker1)
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STEP 13.0: pour-shot-to-used-shaker(shot11,ingredient1,shaker1,right,l1,l2)
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STEP 13.1: leave(right,shot11)
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STEP 14.0: shake(cocktail9,ingredient1,ingredient4,shaker1,left,right)
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STEP 14.1: grasp(right,shot11)
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STEP 15.0: pour-shaker-to-shot(cocktail9,shot2,left,shaker1,l2,l1)
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STEP 15.1: leave(left,shaker1)
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STEP 16.0: refill-shot(shot11,ingredient1,right,left,dispenser1)
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STEP 16.1: grasp(left,shaker1) leave(right,shot11)
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STEP 17: empty-shaker(left,shaker1,cocktail9,l1,l0)
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STEP 18.0: clean-shaker(left,right,shaker1)
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STEP 18.1: grasp(right,shot11) leave(left,shaker1)
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STEP 19.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,right,l0,l1)
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STEP 19.1: leave(right,shot11)
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STEP 20.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 20.1: grasp(right,shaker1)
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STEP 21.0: leave(right,shaker1) pour-shot-to-used-shaker(shot9,ingredient3,shaker1,left,l1,l2)
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STEP 21.1: leave(left,shot9)
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STEP 22: grasp(left,shaker1) grasp(right,shot3)
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STEP 23: leave(left,shaker1) leave(right,shot3)
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STEP 24: grasp(right,shaker1)
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STEP 25.0: shake(cocktail6,ingredient3,ingredient1,shaker1,right,left)
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STEP 25.1: grasp(left,shot3) leave(right,shaker1)
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STEP 26.0: clean-shot(shot3,ingredient4,left,right)
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STEP 26.1: grasp(right,shaker1) leave(left,shot3)
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STEP 27: grasp(left,shot6) pour-shaker-to-shot(cocktail6,shot3,right,shaker1,l2,l1)
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STEP 28.0: empty-shaker(right,shaker1,cocktail6,l1,l0)
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STEP 28.1: leave(right,shaker1)
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STEP 29.0: fill-shot(shot6,ingredient1,left,right,dispenser1)
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STEP 29.1: grasp(right,shot9) leave(left,shot6)
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STEP 30.0: refill-shot(shot9,ingredient3,right,left,dispenser3)
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STEP 30.1: grasp(left,shaker1) leave(right,shot9)
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STEP 31.0: clean-shaker(left,right,shaker1)
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STEP 31.1: grasp(right,shot6) leave(left,shaker1)
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STEP 32.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot6,ingredient1,shaker1,right,l0,l1)
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STEP 32.1: leave(right,shot6)
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STEP 33.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot9,ingredient3,shaker1,left,l1,l2)
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STEP 33.1: leave(left,shot9)
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STEP 34.0: shake(cocktail1,ingredient3,ingredient1,shaker1,right,left)
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STEP 34.1: grasp(left,shot11)
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STEP 35.0: pour-shaker-to-shot(cocktail1,shot4,right,shaker1,l2,l1)
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STEP 35.1: leave(right,shaker1)
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STEP 36.0: clean-shot(shot11,ingredient1,left,right)
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STEP 36.1: grasp(right,shaker1)
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STEP 37.0: empty-shaker(right,shaker1,cocktail1,l1,l0)
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STEP 37.1: leave(right,shaker1)
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STEP 38.0: fill-shot(shot11,ingredient2,left,right,dispenser2)
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STEP 38.1: grasp(right,shaker1) leave(left,shot11)
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STEP 39.0: clean-shaker(right,left,shaker1)
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STEP 39.1: grasp(left,shot9) leave(right,shaker1)
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STEP 40.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 40.1: grasp(right,shot11)
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STEP 41.0: pour-shot-to-clean-shaker(shot9,ingredient3,shaker1,left,l0,l1)
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STEP 41.1: leave(left,shot9)
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STEP 42.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot11,ingredient2,shaker1,right,l1,l2)
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STEP 42.1: leave(right,shot11)
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STEP 43: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
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STEP 44.0: pour-shaker-to-shot(cocktail5,shot5,left,shaker1,l2,l1)
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STEP 44.1: leave(left,shaker1)
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STEP 45: grasp(left,shot11) grasp(right,shaker1)
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STEP 46.0: empty-shaker(right,shaker1,cocktail5,l1,l0)
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STEP 46.1: leave(right,shaker1)
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STEP 47.0: clean-shot(shot11,ingredient2,left,right)
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STEP 47.1: grasp(right,shot8) leave(left,shot11)
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STEP 48.0: fill-shot(shot8,ingredient3,right,left,dispenser3)
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STEP 48.1: grasp(left,shot11) leave(right,shot8)
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STEP 49.0: fill-shot(shot11,ingredient1,left,right,dispenser1)
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STEP 49.1: grasp(right,shaker1) leave(left,shot11)
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STEP 50.0: clean-shaker(right,left,shaker1)
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STEP 50.1: grasp(left,shot11) leave(right,shaker1)
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STEP 51.0: grasp(right,shot6) pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
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STEP 51.1: leave(left,shot11)
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STEP 52.0: clean-shot(shot6,ingredient1,right,left)
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STEP 52.1: grasp(left,shot8) leave(right,shot6)
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STEP 53.0: grasp(right,shot11) pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
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STEP 53.1: leave(left,shot8)
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STEP 54.0: clean-shot(shot11,ingredient1,right,left)
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STEP 54.1: grasp(left,shaker1) leave(right,shot11)
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STEP 55.0: shake(cocktail1,ingredient3,ingredient1,shaker1,left,right)
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STEP 55.1: grasp(right,shot10)
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STEP 56.0: empty-shaker(left,shaker1,cocktail1,l2,l0)
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STEP 56.1: leave(left,shaker1)
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STEP 57.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
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STEP 57.1: grasp(left,shot11) leave(right,shot10)
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STEP 58.0: fill-shot(shot11,ingredient2,left,right,dispenser2)
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STEP 58.1: grasp(right,shaker1) leave(left,shot11)
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STEP 59.0: clean-shaker(right,left,shaker1)
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STEP 59.1: grasp(left,shot11) leave(right,shaker1)
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STEP 60.0: grasp(right,shot6) pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,left,l0,l1)
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STEP 60.1: leave(left,shot11)
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STEP 61.0: fill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 61.1: grasp(left,shot10) leave(right,shot6)
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STEP 62.0: empty-shot(left,shot10,ingredient4) grasp(right,shaker1)
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STEP 62.1: leave(left,shot10)
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STEP 63: grasp(left,shot6) leave(right,shaker1)
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STEP 64: pour-shot-to-used-shaker(shot6,ingredient3,shaker1,left,l1,l2)
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STEP 65.0: clean-shot(shot6,ingredient3,left,right)
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STEP 65.1: grasp(right,shaker1) leave(left,shot6)
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STEP 66.0: shake(cocktail4,ingredient2,ingredient3,shaker1,right,left)
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STEP 66.1: grasp(left,shot7)
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STEP 67: pour-shaker-to-shot(cocktail4,shot6,right,shaker1,l2,l1)
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STEP 68.0: empty-shaker(right,shaker1,cocktail4,l1,l0)
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STEP 68.1: leave(right,shaker1)
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STEP 69.0: refill-shot(shot7,ingredient4,left,right,dispenser4)
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STEP 69.1: grasp(right,shot11) leave(left,shot7)
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STEP 70.0: refill-shot(shot11,ingredient2,right,left,dispenser2)
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STEP 70.1: grasp(left,shaker1) leave(right,shot11)
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STEP 71.0: clean-shaker(left,right,shaker1)
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STEP 71.1: grasp(right,shot11) leave(left,shaker1)
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STEP 72: pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,right,l0,l1)
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STEP 73: clean-shot(shot11,ingredient2,right,left)
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STEP 74.0: fill-shot(shot11,ingredient1,right,left,dispenser1)
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STEP 74.1: grasp(left,shaker1)
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STEP 75.0: pour-shot-to-used-shaker(shot11,ingredient1,shaker1,right,l1,l2)
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STEP 75.1: leave(right,shot11)
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STEP 76.0: shake(cocktail3,ingredient1,ingredient2,shaker1,left,right)
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STEP 76.1: grasp(right,shot9) leave(left,shaker1)
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STEP 77.0: clean-shot(shot9,ingredient3,right,left)
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STEP 77.1: grasp(left,shaker1) leave(right,shot9)
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STEP 78.0: grasp(right,shot11) pour-shaker-to-shot(cocktail3,shot9,left,shaker1,l2,l1)
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STEP 78.1: leave(left,shaker1)
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STEP 79: clean-shot(shot11,ingredient1,right,left)
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STEP 80.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
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STEP 80.1: grasp(left,shot8) leave(right,shot11)
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STEP 81.0: clean-shot(shot8,ingredient3,left,right)
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STEP 81.1: grasp(right,shaker1) leave(left,shot8)
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STEP 82: empty-shaker(right,shaker1,cocktail3,l1,l0)
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STEP 83.0: clean-shaker(right,left,shaker1)
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STEP 83.1: grasp(left,shot11) leave(right,shaker1)
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STEP 84.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,left,l0,l1)
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STEP 84.1: leave(left,shot11)
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STEP 85.0: clean-shot(shot10,ingredient4,right,left)
|
||
|
|
STEP 85.1: grasp(left,shot8) leave(right,shot10)
|
||
|
|
STEP 86.0: fill-shot(shot8,ingredient2,left,right,dispenser2)
|
||
|
|
STEP 86.1: grasp(right,shot10) leave(left,shot8)
|
||
|
|
STEP 87.0: fill-shot(shot10,ingredient1,right,left,dispenser1)
|
||
|
|
STEP 87.1: grasp(left,shaker1)
|
||
|
|
STEP 88.0: pour-shot-to-used-shaker(shot10,ingredient1,shaker1,right,l1,l2)
|
||
|
|
STEP 88.1: leave(right,shot10)
|
||
|
|
STEP 89.0: shake(cocktail2,ingredient2,ingredient1,shaker1,left,right)
|
||
|
|
STEP 89.1: grasp(right,shot11) leave(left,shaker1)
|
||
|
|
STEP 90.0: clean-shot(shot11,ingredient2,right,left)
|
||
|
|
STEP 90.1: grasp(left,shot7) leave(right,shot11)
|
||
|
|
STEP 91: empty-shot(left,shot7,ingredient4) grasp(right,shaker1)
|
||
|
|
STEP 92.0: pour-shaker-to-shot(cocktail2,shot11,right,shaker1,l2,l1)
|
||
|
|
STEP 92.1: leave(right,shaker1)
|
||
|
|
STEP 93.0: clean-shot(shot7,ingredient4,left,right)
|
||
|
|
STEP 93.1: grasp(right,shaker1) leave(left,shot7)
|
||
|
|
STEP 94: pour-shaker-to-shot(cocktail2,shot7,right,shaker1,l1,l0)
|
||
|
|
STEP 95: empty-shaker(right,shaker1,cocktail2,l0,l0)
|
||
|
|
STEP 96.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 96.1: grasp(left,shot8) leave(right,shaker1)
|
||
|
|
STEP 97.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot8,ingredient2,shaker1,left,l0,l1)
|
||
|
|
STEP 97.1: leave(left,shot8)
|
||
|
|
STEP 98.0: refill-shot(shot10,ingredient1,right,left,dispenser1)
|
||
|
|
STEP 98.1: grasp(left,shaker1)
|
||
|
|
STEP 99.0: pour-shot-to-used-shaker(shot10,ingredient1,shaker1,right,l1,l2)
|
||
|
|
STEP 99.1: leave(right,shot10)
|
||
|
|
STEP 100.0: shake(cocktail8,ingredient1,ingredient2,shaker1,left,right)
|
||
|
|
STEP 100.1: grasp(right,shot8) leave(left,shaker1)
|
||
|
|
STEP 101.0: clean-shot(shot8,ingredient2,right,left)
|
||
|
|
STEP 101.1: grasp(left,shaker1) leave(right,shot8)
|
||
|
|
STEP 102.0: grasp(right,shot10) pour-shaker-to-shot(cocktail8,shot8,left,shaker1,l2,l1)
|
||
|
|
STEP 102.1: leave(left,shaker1)
|
||
|
|
STEP 103.0: clean-shot(shot10,ingredient1,right,left)
|
||
|
|
STEP 103.1: grasp(left,shaker1)
|
||
|
|
STEP 104: pour-shaker-to-shot(cocktail8,shot10,left,shaker1,l1,l0)
|
||
|
|
243 actions in the plan.
|
||
|
|
Cost of the plan is 441.
|
||
|
|
|
||
|
|
|
||
|
|
# statistics in YAML format
|
||
|
|
---
|
||
|
|
runtime:
|
||
|
|
total: 440.26 # [s]
|
||
|
|
preprocessing: 0.06 # [s]
|
||
|
|
maxLearnedClauseLength: 13043
|
||
|
|
groundActions:
|
||
|
|
afterParsing: 2276
|
||
|
|
afterPreprocessing: 1420
|
||
|
|
stateVariables:
|
||
|
|
afterParsing: 391
|
||
|
|
afterPreprocessing: 267
|
||
|
|
stronglyConnectedComponents:
|
||
|
|
maxSize: 264
|
||
|
|
plan:
|
||
|
|
found: true
|
||
|
|
length: 115
|
||
|
|
actions: 243
|
||
|
|
iterations:
|
||
|
|
- horizon: 0
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 0
|
||
|
|
decisions: 0
|
||
|
|
variables: 267
|
||
|
|
- horizon: 5
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 67
|
||
|
|
decisions: 67
|
||
|
|
variables: 13452
|
||
|
|
- horizon: 10
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 699
|
||
|
|
decisions: 754
|
||
|
|
variables: 26637
|
||
|
|
- horizon: 15
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 5272
|
||
|
|
decisions: 6343
|
||
|
|
variables: 39822
|
||
|
|
- horizon: 20
|
||
|
|
result: unknown
|
||
|
|
conflicts: 264769
|
||
|
|
decisions: 346395
|
||
|
|
variables: 53007
|
||
|
|
- horizon: 25
|
||
|
|
result: unknown
|
||
|
|
conflicts: 238263
|
||
|
|
decisions: 331467
|
||
|
|
variables: 66192
|
||
|
|
- horizon: 30
|
||
|
|
result: unknown
|
||
|
|
conflicts: 214353
|
||
|
|
decisions: 325213
|
||
|
|
variables: 79377
|
||
|
|
- horizon: 35
|
||
|
|
result: unknown
|
||
|
|
conflicts: 192887
|
||
|
|
decisions: 306896
|
||
|
|
variables: 92562
|
||
|
|
- horizon: 40
|
||
|
|
result: unknown
|
||
|
|
conflicts: 173537
|
||
|
|
decisions: 288159
|
||
|
|
variables: 105747
|
||
|
|
- horizon: 45
|
||
|
|
result: unknown
|
||
|
|
conflicts: 156222
|
||
|
|
decisions: 272178
|
||
|
|
variables: 118932
|
||
|
|
- horizon: 50
|
||
|
|
result: unknown
|
||
|
|
conflicts: 140612
|
||
|
|
decisions: 250424
|
||
|
|
variables: 132117
|
||
|
|
- horizon: 55
|
||
|
|
result: unknown
|
||
|
|
conflicts: 126582
|
||
|
|
decisions: 231887
|
||
|
|
variables: 145302
|
||
|
|
- horizon: 60
|
||
|
|
result: unknown
|
||
|
|
conflicts: 113889
|
||
|
|
decisions: 216744
|
||
|
|
variables: 158487
|
||
|
|
- horizon: 65
|
||
|
|
result: unknown
|
||
|
|
conflicts: 102526
|
||
|
|
decisions: 196193
|
||
|
|
variables: 171672
|
||
|
|
- horizon: 70
|
||
|
|
result: unknown
|
||
|
|
conflicts: 92315
|
||
|
|
decisions: 179531
|
||
|
|
variables: 184857
|
||
|
|
- horizon: 75
|
||
|
|
result: unknown
|
||
|
|
conflicts: 83021
|
||
|
|
decisions: 161623
|
||
|
|
variables: 198042
|
||
|
|
- horizon: 80
|
||
|
|
result: unknown
|
||
|
|
conflicts: 74757
|
||
|
|
decisions: 146775
|
||
|
|
variables: 211227
|
||
|
|
- horizon: 85
|
||
|
|
result: unknown
|
||
|
|
conflicts: 67315
|
||
|
|
decisions: 135665
|
||
|
|
variables: 224412
|
||
|
|
- horizon: 90
|
||
|
|
result: unknown
|
||
|
|
conflicts: 60574
|
||
|
|
decisions: 121549
|
||
|
|
variables: 237597
|
||
|
|
- horizon: 95
|
||
|
|
result: unknown
|
||
|
|
conflicts: 54505
|
||
|
|
decisions: 112508
|
||
|
|
variables: 250782
|
||
|
|
- horizon: 100
|
||
|
|
result: unknown
|
||
|
|
conflicts: 49094
|
||
|
|
decisions: 97993
|
||
|
|
variables: 263967
|
||
|
|
- horizon: 105
|
||
|
|
result: unknown
|
||
|
|
conflicts: 44173
|
||
|
|
decisions: 94348
|
||
|
|
variables: 277152
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 39790
|
||
|
|
decisions: 82191
|
||
|
|
variables: 290337
|
||
|
|
- horizon: 115
|
||
|
|
result: satisfiable
|
||
|
|
conflicts: 35813
|
||
|
|
decisions: 75780
|
||
|
|
variables: 303522
|
||
|
|
...
|
||
|
|
|