319 lines
11 KiB
Plaintext
319 lines
11 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-3.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 0.01 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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5 UNSAT (45 decisions 45 conflicts)
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Horizon 10: 23094 variables
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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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10 UNSAT (650 decisions 624 conflicts)
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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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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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SAT (20 ID 1126 decisions 339 conflicts 228834 variables)
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PLAN FOUND: 100 steps
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STEP 0: grasp(right,shot10)
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STEP 1.0: fill-shot(shot10,ingredient1,right,left,dispenser1)
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STEP 1.1: grasp(left,shot9) leave(right,shot10)
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STEP 2.0: fill-shot(shot9,ingredient2,left,right,dispenser2)
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STEP 2.1: grasp(right,shot6) leave(left,shot9)
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STEP 3.0: fill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 3.1: grasp(left,shot9)
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STEP 4.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,right,l0,l1)
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STEP 4.1: leave(right,shot6)
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STEP 5.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
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STEP 5.1: leave(left,shot9)
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STEP 6.0: shake(cocktail3,ingredient2,ingredient3,shaker1,right,left)
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STEP 6.1: grasp(left,shot10)
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STEP 7.0: empty-shot(left,shot10,ingredient1) pour-shaker-to-shot(cocktail3,shot1,right,shaker1,l2,l1)
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STEP 7.1: leave(right,shaker1)
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STEP 8.0: clean-shot(shot10,ingredient1,left,right)
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STEP 8.1: grasp(right,shaker1) leave(left,shot10)
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STEP 9: empty-shaker(right,shaker1,cocktail3,l1,l0)
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STEP 10.0: clean-shaker(right,left,shaker1)
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STEP 10.1: grasp(left,shot10) leave(right,shaker1)
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STEP 11.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 11.1: grasp(right,shot7)
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STEP 12.0: pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 12.1: leave(left,shot10)
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STEP 13.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 13.1: grasp(left,shaker1)
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STEP 14.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 14.1: leave(right,shot7)
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STEP 15: shake(cocktail5,ingredient3,ingredient2,shaker1,left,right)
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STEP 16.0: pour-shaker-to-shot(cocktail5,shot2,left,shaker1,l2,l1)
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STEP 16.1: leave(left,shaker1)
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STEP 17: grasp(right,shaker1)
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STEP 18: empty-shaker(right,shaker1,cocktail5,l1,l0)
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STEP 19.0: clean-shaker(right,left,shaker1)
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STEP 19.1: grasp(left,shot8) leave(right,shaker1)
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STEP 20.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 20.1: grasp(right,shot7)
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STEP 21.0: pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 21.1: leave(left,shot8)
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STEP 22.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 22.1: grasp(left,shot10) leave(right,shot7)
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STEP 23.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 23.1: grasp(right,shaker1)
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STEP 24.0: pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 24.1: leave(left,shot10)
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STEP 25: shake(cocktail2,ingredient2,ingredient1,shaker1,right,left)
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STEP 26: pour-shaker-to-shot(cocktail2,shot3,right,shaker1,l2,l1)
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STEP 27: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 28.0: clean-shaker(right,left,shaker1)
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STEP 28.1: grasp(left,shot7) leave(right,shaker1)
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STEP 29.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot7,ingredient3,shaker1,left,l0,l1)
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STEP 29.1: leave(left,shot7)
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STEP 30.0: fill-shot(shot5,ingredient1,right,left,dispenser1)
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STEP 30.1: grasp(left,shaker1)
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STEP 31.0: pour-shot-to-used-shaker(shot5,ingredient1,shaker1,right,l1,l2)
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STEP 31.1: leave(right,shot5)
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STEP 32.0: shake(cocktail6,ingredient1,ingredient3,shaker1,left,right)
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STEP 32.1: grasp(right,shot10)
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STEP 33.0: pour-shaker-to-shot(cocktail6,shot4,left,shaker1,l2,l1)
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STEP 33.1: leave(left,shaker1)
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STEP 34.0: refill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 34.1: grasp(left,shot5) leave(right,shot10)
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STEP 35.0: clean-shot(shot5,ingredient1,left,right)
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STEP 35.1: grasp(right,shaker1) leave(left,shot5)
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STEP 36: empty-shaker(right,shaker1,cocktail6,l1,l0)
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STEP 37.0: clean-shaker(right,left,shaker1)
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STEP 37.1: grasp(left,shot10) leave(right,shaker1)
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STEP 38.0: grasp(right,shot7) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 38.1: leave(left,shot10)
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STEP 39.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 39.1: grasp(left,shaker1)
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STEP 40.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 40.1: leave(right,shot7)
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STEP 41.0: shake(cocktail4,ingredient3,ingredient2,shaker1,left,right)
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STEP 41.1: grasp(right,shot10)
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STEP 42.0: pour-shaker-to-shot(cocktail4,shot5,left,shaker1,l2,l1)
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STEP 42.1: leave(left,shaker1)
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STEP 43.0: clean-shot(shot10,ingredient2,right,left)
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STEP 43.1: grasp(left,shot6) leave(right,shot10)
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STEP 44.0: clean-shot(shot6,ingredient3,left,right)
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STEP 44.1: grasp(right,shot10) leave(left,shot6)
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STEP 45.0: fill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 45.1: grasp(left,shot9) leave(right,shot10)
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STEP 46.0: clean-shot(shot9,ingredient2,left,right)
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STEP 46.1: grasp(right,shaker1)
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STEP 47.0: empty-shaker(right,shaker1,cocktail4,l1,l0)
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STEP 47.1: leave(right,shaker1)
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STEP 48.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 48.1: grasp(right,shaker1) leave(left,shot9)
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STEP 49.0: clean-shaker(right,left,shaker1)
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STEP 49.1: grasp(left,shot10) leave(right,shaker1)
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STEP 50.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 50.1: leave(left,shot10)
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STEP 51.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot9,ingredient3,shaker1,right,l1,l2)
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STEP 51.1: leave(right,shot9)
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STEP 52.0: shake(cocktail1,ingredient2,ingredient3,shaker1,left,right)
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STEP 52.1: grasp(right,shot7)
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STEP 53: leave(right,shot7) pour-shaker-to-shot(cocktail1,shot6,left,shaker1,l2,l1)
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STEP 54.0: empty-shaker(left,shaker1,cocktail1,l1,l0) grasp(right,shot7)
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STEP 54.1: leave(left,shaker1)
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STEP 55.0: clean-shot(shot7,ingredient3,right,left)
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STEP 55.1: grasp(left,shot10) leave(right,shot7)
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STEP 56.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 56.1: grasp(right,shaker1) leave(left,shot10)
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STEP 57.0: clean-shaker(right,left,shaker1)
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STEP 57.1: grasp(left,shot10) leave(right,shaker1)
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STEP 58.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 58.1: leave(left,shot10)
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STEP 59.0: refill-shot(shot9,ingredient3,right,left,dispenser3)
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STEP 59.1: grasp(left,shaker1)
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STEP 60.0: leave(left,shaker1) pour-shot-to-used-shaker(shot9,ingredient3,shaker1,right,l1,l2)
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STEP 60.1: leave(right,shot9)
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STEP 61: grasp(right,shaker1)
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STEP 62: shake(cocktail8,ingredient2,ingredient3,shaker1,right,left)
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STEP 63: pour-shaker-to-shot(cocktail8,shot7,right,shaker1,l2,l1)
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STEP 64: empty-shaker(right,shaker1,cocktail8,l1,l0)
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STEP 65.0: clean-shaker(right,left,shaker1)
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STEP 65.1: grasp(left,shot9) leave(right,shaker1)
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STEP 66.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 66.1: grasp(right,shaker1) leave(left,shot9)
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STEP 67: grasp(left,shot8) leave(right,shaker1)
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STEP 68.0: refill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 68.1: grasp(right,shot9)
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STEP 69: leave(right,shot9) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 70.0: clean-shot(shot8,ingredient1,left,right)
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STEP 70.1: grasp(right,shot9) leave(left,shot8)
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STEP 71: grasp(left,shot10) leave(right,shot9)
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STEP 72.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 72.1: grasp(right,shaker1)
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STEP 73.0: pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 73.1: leave(left,shot10)
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STEP 74: shake(cocktail7,ingredient1,ingredient2,shaker1,right,left)
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STEP 75: pour-shaker-to-shot(cocktail7,shot8,right,shaker1,l2,l1)
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167 actions in the plan.
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Cost of the plan is 329.
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# statistics in YAML format
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---
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runtime:
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total: 2.55 # [s]
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preprocessing: 0.02 # [s]
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maxLearnedClauseLength: 4602
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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: 100
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actions: 167
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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: 45
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decisions: 45
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variables: 11664
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- horizon: 10
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result: unsatisfiable
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conflicts: 624
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decisions: 650
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variables: 23094
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- horizon: 15
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result: unknown
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conflicts: 1623
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decisions: 2033
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variables: 34524
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- horizon: 20
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result: unknown
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conflicts: 1502
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decisions: 2197
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variables: 45954
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- horizon: 25
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result: unknown
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conflicts: 1383
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decisions: 2214
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variables: 57384
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- horizon: 30
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result: unknown
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conflicts: 1262
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decisions: 2088
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variables: 68814
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- horizon: 35
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result: unknown
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conflicts: 1142
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decisions: 1998
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variables: 80244
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- horizon: 40
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result: unknown
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conflicts: 1020
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decisions: 1828
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variables: 91674
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- horizon: 45
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result: unknown
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conflicts: 902
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decisions: 1661
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variables: 103104
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- horizon: 50
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result: unknown
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conflicts: 840
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decisions: 1671
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variables: 114534
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- horizon: 55
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result: unknown
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conflicts: 781
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decisions: 1673
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variables: 125964
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- horizon: 60
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result: unknown
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conflicts: 661
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decisions: 1372
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variables: 137394
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- horizon: 65
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result: unknown
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conflicts: 601
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decisions: 1067
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variables: 148824
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- horizon: 70
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result: unknown
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conflicts: 542
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decisions: 1170
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variables: 160254
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- horizon: 75
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result: unknown
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conflicts: 541
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decisions: 1254
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variables: 171684
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- horizon: 80
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result: unknown
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conflicts: 483
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decisions: 1025
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variables: 183114
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- horizon: 85
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result: unknown
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conflicts: 421
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decisions: 986
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variables: 194544
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- horizon: 90
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result: unknown
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||
|
|
conflicts: 420
|
||
|
|
decisions: 913
|
||
|
|
variables: 205974
|
||
|
|
- horizon: 95
|
||
|
|
result: unknown
|
||
|
|
conflicts: 360
|
||
|
|
decisions: 593
|
||
|
|
variables: 217404
|
||
|
|
- horizon: 100
|
||
|
|
result: satisfiable
|
||
|
|
conflicts: 339
|
||
|
|
decisions: 1126
|
||
|
|
variables: 228834
|
||
|
|
- horizon: 105
|
||
|
|
result: unknown
|
||
|
|
conflicts: 300
|
||
|
|
decisions: 608
|
||
|
|
variables: 240264
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 301
|
||
|
|
decisions: 765
|
||
|
|
variables: 251694
|
||
|
|
...
|
||
|
|
|