Starting HOP Planner /127.0.0.1 RDDL client initialized 1:10 This is one of the usage of KeySet Operation!!!! ------ This is Tranlate (Translate.java)----- [not_in_use, recon_demo_inst_mdp__1, 2, 0.3, none] ------- This is TranslateInit (Translate.java) ------This is getConstants(Translate.java) ---------Initializing Translate is completed!!!------------ ------- This is HOPTranslate (HOPTranslate.java) [not_in_use, recon_demo_inst_mdp__1, 2, 0.3, none, 3, SAMPLE, ROOT, not_in_use, not_in_use] -----This is HOPTranslateInit ---- -----End of FittedEmergencyDomainHOPTranslate INIT Function------------ This is one of the usage of KeySet Operation!!!! [ Memory usage: 34.42Mb / 126.88Mb = 0.27 ] ********************************************************* >>> ROUND INIT 1/10; time remaining = 499067.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "499066.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true -----------------------------------------This is for First Time---- 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.04 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.03549909591674805 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 74 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "494790.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00698089599609375 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "494207.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049059391021728516 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "493596.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.007014036178588867 Translation time(mins) : 0.006166666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 24 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "492407.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.006796121597290039 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 24 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "491596.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004848003387451172 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "490712.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.006002187728881836 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 21 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "489969.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004806995391845703 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "489410.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004889965057373047 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "489181.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048749446868896484 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "489027.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0070149898529052734 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 18 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "488838.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004831075668334961 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "488688.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004842996597290039 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "488534.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004835844039916992 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "488367.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004837989807128906 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "487969.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.007386922836303711 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "487776.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048329830169677734 Translation time(mins) : 0.006333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "487594.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004887104034423828 Translation time(mins) : 0.006500000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "487454.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004858970642089844 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "487339.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00487518310546875 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "487225.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "487097.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004765987396240234 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "486949.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004906177520751953 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "486756.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004909038543701172 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "486638.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004912137985229492 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "486286.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.006666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "486154.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004805088043212891 Translation time(mins) : 0.006833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "486038.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.006833333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "29" [time-left] "485917.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004829883575439453 Translation time(mins) : 0.007000000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "30" [time-left] "485794.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [4e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004803895950317383 Translation time(mins) : 0.007000000000000001 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l1)=true, repair($r1, $l2)=true, repair($r2, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $l2);, repair($r2, $l1);, repair($r2, $c1);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false [#document] [round-end] [instance-name] "recon_demo_inst_mdp__1" [client-name] "HOPPlanner" [round-num] "0" [round-reward] "0.0" [turns-used] "30" [time-left] "485675" [immediate-reward] "0.0" ********************************************************* >>> ROUND END, reward = 0.0 ********************************************************* JVM free memory : 49270024 / 466092032 = 0.10570878843086509 round end / out of memory detected; trying cleanup 1. Go to initializeGRB 2. addExtraPredicates 3. addAllVariables 4. prepareModel(FittedEmergencyDomainHOP.java) (a.translateConstraints, b.translateRewards, c. maybe translateCPTS) 5. doPlan(Translate.java getActions) Academic license - for non-commercial use only current nodefile directly . -----This is addExtraPredicates (Overrided)---- Here we are adding Futures------> Adding Extra Predicates -----This is removeExtraPredicates (Overrided)---- -----This is addAllVaribles (Overrided)---- This is the first time (FittedEmergencyDo mainHOP.java --------------Translating Constraints (FittedEmergencyDomainHOP.java) ------------- -----Preparing Model -------- --------------Translating Constraints(Overrided) ------------- Checking hindsight_method -----Getting HindSightConstraintExpr (HOPTranslate.java)------- -----> This is for ROOT CASE ----This is end of HindSightConstraintExpr ------- -----------Translating Constraints are done. Now Working on PrepareModel Code!.------------- --------------Translating Reward------------- ---- This is translate Reward (Overrided) -------- This is one of the usage of KeySet Operation!!!! [ Memory usage: 119.91Mb / 212.86Mb = 0.56 ] ********************************************************* >>> ROUND INIT 2/10; time remaining = 484694.0, horizon = 30 ********************************************************* Reading turn message [#document] [turn] [turn-num] "1" [time-left] "484689.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Warning: excessive time spent in model updates. Consider calling update less frequently. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Found heuristic solution: objective -4.0000000 Root relaxation: objective -0.000000e+00, 21 iterations, 0.00 seconds Nodes | Current Node | Objective Bounds | Work Expl Unexpl | Obj Depth IntInf | Incumbent BestBd Gap | It/Node Time * 0 0 0 -0.0000000 -0.00000 0.00% - 0s Explored 0 nodes (21 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 2: -0 -4 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 8.792966355031212E-14 Maximum integrality violation : 4.662936703425635E-15 Sum of integrality violations : 8.792966355031211E-14 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 2 Number of simplex iterations performed in most recent optimization : 21.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.015007972717285156 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "2" [time-left] "484227.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047991275787353516 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "3" [time-left] "484099.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0050258636474609375 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "4" [time-left] "483970.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004826068878173828 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "5" [time-left] "483837.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004911899566650391 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "6" [time-left] "483716.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004855155944824219 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "7" [time-left] "483535.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004913806915283203 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 16 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "8" [time-left] "483407.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004848003387451172 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "9" [time-left] "483275.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048449039459228516 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "10" [time-left] "483113.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004842996597290039 Translation time(mins) : 0.011333333333333334 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "11" [time-left] "482973.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.01s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.01 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.007327079772949219 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 22 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "12" [time-left] "482781.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00489497184753418 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "13" [time-left] "482665.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0049130916595458984 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "14" [time-left] "482543.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004868030548095703 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "15" [time-left] "482420.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004909038543701172 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "16" [time-left] "482303.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004876136779785156 Translation time(mins) : 0.011500000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "17" [time-left] "482168.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004884004592895508 Translation time(mins) : 0.011666666666666667 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "18" [time-left] "482054.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004807949066162109 Translation time(mins) : 0.011833333333333335 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "19" [time-left] "481924.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004798173904418945 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "20" [time-left] "481803.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004917144775390625 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "21" [time-left] "481683.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047800540924072266 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "22" [time-left] "481479.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0048639774322509766 Translation time(mins) : 0.012000000000000002 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "23" [time-left] "481361.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.004787921905517578 Translation time(mins) : 0.012166666666666668 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 19 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "24" [time-left] "481169.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.001 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00490880012512207 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "25" [time-left] "481056.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.0047991275787353516 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "26" [time-left] "480908.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00484013557434082 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 15 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "27" [time-left] "480787.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if (damaged(?t)) then [~[exists_{?r : rover} repair(?r, ?t)]] else [Bernoulli((sum_{?loc : location, ?r : rover} ((move(?r, ?loc) * TOOL-ON(?t, ?r)) * DAMAGE-PROB(?loc))))] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB-DAMAGED(?loc))] else [if ([exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l) ^ ~damaged(?l))]) then [Bernoulli(LIFE-DETECTION-PROB(?loc))] else [life-detected(?loc)]] true ------------------------------------------------this is doPlan (HOPTranslate.java Overrided)------- --------------Translating CPTs with random Generated Futures------------- -----This is translateCPT(FittedEmergencyDomainHOPTransalate.java) -------This is were we are sampling the future!!!!-- Time Taken for TranslateCPT Without Emergency Data:0.0 --------------Initial State------------- ----Translating Initial State (HOPTRanslate.java)------ ----------------------------------------------THIS IS WERE STARTING OPTIMIZATION(HOPTranslate.java)!!! Optimizing............. Optimize a model with 5195 rows, 3116 columns and 15421 nonzeros Variable types: 141 continuous, 2975 integer (2896 binary) Coefficient statistics: Matrix range [1e+00, 1e+06] Objective range [3e-01, 3e-01] Bounds range [1e+00, 2e+09] RHS range [2e-03, 1e+06] Warning: Model contains large bounds Consider reformulating model or setting NumericFocus parameter to avoid numerical issues. Loaded MIP start with objective -0 Presolve removed 5158 rows and 3046 columns Presolve time: 0.00s Presolved: 37 rows, 70 columns, 97 nonzeros Variable types: 0 continuous, 70 integer (67 binary) Explored 0 nodes (0 simplex iterations) in 0.00 seconds Thread count was 1 (of 8 available processors) Solution count 1: -0 Optimal solution found (tolerance 1.00e-02) Best objective -0.000000000000e+00, best bound -0.000000000000e+00, gap 0.0000% Exit code 2 ------This is output results for GRB MODEL ------- Maximum (unscaled) bound violation : 0.0 Sum of (unscaled) constraint violations : 0.0 Maximum integrality violation : 0.0 Sum of integrality violations : 0.0 Objective value : -0.0 Status : 2(Optimal/Inf/Unb: 2, 3, 5) Number of solutions found : 1 Number of simplex iterations performed in most recent optimization : 0.0 Number of branch-and-cut nodes explored in most recent optimization : 0.0 #Variables : 3116 #Integer variables : 2975 #Binary variables : 2896 #Constraints : 5195 #NumPWLObjVars : 0 #State Vars : 49 #Action Vars : 34 Optimization Runtime(mins) : 0.00488591194152832 Translation time(mins) : 0.012333333333333333 ---------> Cleaning up the Gurobi Model, Removing Constraints Gurobi Cleanup time = 14 ------Gettting RootActions (Overrided) ------- Votes {{repair($r2, $l2)=true, repair($r2, $l1)=true, repair($r1, $c1)=true}=3} Total violation of root action 0.0 Average absolute violation of root action 0.0 These are Root Actions:[repair($r1, $c1);, repair($r2, $l1);, repair($r2, $l2);] Choosing Random Action [#document] [actions] [action] [action-name] "repair" [action-arg] "r2" [action-arg] "l2" [action-value] "false" Sending: repairr2l2false Reading turn message [#document] [turn] [turn-num] "28" [time-left] "480672.0" [immediate-reward] "0.0" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "picture-taken" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-checked" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r1" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc00" [fluent-value] "true" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "rover-at" [fluent-arg] "r2" [fluent-arg] "loc22" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "l2" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c1" [fluent-value] "false" [observed-fluent] [fluent-name] "damaged" [fluent-arg] "c2" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc00" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc01" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc02" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc10" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc11" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc12" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc20" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc21" [fluent-value] "false" [observed-fluent] [fluent-name] "life-detected" [fluent-arg] "loc22" [fluent-value] "false"Done reading turn message Done parsing turn message I am after deepCopy State (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (picture-taken(?loc) | [exists_{?r : rover, ?c : camera} (rover-at(?r, ?loc) ^ use-tool(?r, ?c))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true (life-checked(?loc) | [exists_{?r : rover, ?l : life-detector} (rover-at(?r, ?loc) ^ use-tool(?r, ?l))]) true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true if (move(?r, ?loc)) then [true] else [(~[exists_{?loc2 : location} move(?r, ?loc2)] ^ rover-at(?r, ?loc))] true i