203 lines
9.5 KiB
Plaintext
203 lines
9.5 KiB
Plaintext
|
Madagascar 0.99999 01/02/2018 14:46:04 amd64 1-core (no VSIDS)
|
||
|
|
Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-6.pddlignoring --stats
|
||
|
|
ignoring --stats-iter
|
||
|
|
ignoring --verbose
|
||
|
|
-m 8192 -F 115 -T 115
|
||
|
|
Domain: barman
|
||
|
|
Problem: prob
|
||
|
|
Parser: 2276 ground actions and 391 state variables
|
||
|
|
Invariants: 0 1 2 3 0.02 secs
|
||
|
|
Goal: conjunctive
|
||
|
|
Simplified: 1420 ground actions and 267 state variables
|
||
|
|
Actions: STRIPS
|
||
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.03 secs (max SCC size 264)
|
||
|
|
Plan type: E-step
|
||
|
|
Allocated 32 MB permanent (total 131 MB)
|
||
|
|
Horizon 115: 303522 variables
|
||
|
|
Allocated 32 MB (total 259 MB)
|
||
|
|
SAT (0 ID 8633 decisions 3910 conflicts 303522 variables)
|
||
|
|
PLAN FOUND: 115 steps
|
||
|
|
STEP 0: grasp(left,shot11)
|
||
|
|
STEP 1.0: fill-shot(shot11,ingredient1,left,right,dispenser1)
|
||
|
|
STEP 1.1: grasp(right,shot6)
|
||
|
|
STEP 2.0: pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
|
||
|
|
STEP 2.1: leave(left,shot11)
|
||
|
|
STEP 3.0: fill-shot(shot6,ingredient3,right,left,dispenser3)
|
||
|
|
STEP 3.1: grasp(left,shot11)
|
||
|
|
STEP 4.0: pour-shot-to-used-shaker(shot6,ingredient3,shaker1,right,l1,l2)
|
||
|
|
STEP 4.1: leave(right,shot6)
|
||
|
|
STEP 5.0: clean-shot(shot11,ingredient1,left,right)
|
||
|
|
STEP 5.1: grasp(right,shaker1) leave(left,shot11)
|
||
|
|
STEP 6: shake(cocktail5,ingredient3,ingredient1,shaker1,right,left)
|
||
|
|
STEP 7: pour-shaker-to-shot(cocktail5,shot2,right,shaker1,l2,l1)
|
||
|
|
STEP 8: empty-shaker(right,shaker1,cocktail5,l1,l0)
|
||
|
|
STEP 9.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 9.1: grasp(left,shot10) leave(right,shaker1)
|
||
|
|
STEP 10.0: fill-shot(shot10,ingredient1,left,right,dispenser1)
|
||
|
|
STEP 10.1: grasp(right,shot11) leave(left,shot10)
|
||
|
|
STEP 11.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
|
||
|
|
STEP 11.1: grasp(left,shot9)
|
||
|
|
STEP 12.0: pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,right,l0,l1)
|
||
|
|
STEP 12.1: leave(right,shot11)
|
||
|
|
STEP 13.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
|
||
|
|
STEP 13.1: grasp(right,shaker1)
|
||
|
|
STEP 14.0: pour-shot-to-used-shaker(shot9,ingredient3,shaker1,left,l1,l2)
|
||
|
|
STEP 14.1: leave(left,shot9)
|
||
|
|
STEP 15.0: shake(cocktail8,ingredient2,ingredient3,shaker1,right,left)
|
||
|
|
STEP 15.1: grasp(left,shot3)
|
||
|
|
STEP 16: pour-shaker-to-shot(cocktail8,shot1,right,shaker1,l2,l1)
|
||
|
|
STEP 17.0: empty-shaker(right,shaker1,cocktail8,l1,l0)
|
||
|
|
STEP 17.1: leave(right,shaker1)
|
||
|
|
STEP 18.0: fill-shot(shot3,ingredient4,left,right,dispenser4)
|
||
|
|
STEP 18.1: grasp(right,shot10) leave(left,shot3)
|
||
|
|
STEP 19: grasp(left,shaker1) leave(right,shot10)
|
||
|
|
STEP 20.0: clean-shaker(left,right,shaker1)
|
||
|
|
STEP 20.1: grasp(right,shot11) leave(left,shaker1)
|
||
|
|
STEP 21.0: refill-shot(shot11,ingredient2,right,left,dispenser2)
|
||
|
|
STEP 21.1: grasp(left,shot7) leave(right,shot11)
|
||
|
|
STEP 22.0: fill-shot(shot7,ingredient2,left,right,dispenser2)
|
||
|
|
STEP 22.1: grasp(right,shot3)
|
||
|
|
STEP 23.0: leave(right,shot3) pour-shot-to-clean-shaker(shot7,ingredient2,shaker1,left,l0,l1)
|
||
|
|
STEP 23.1: leave(left,shot7)
|
||
|
|
STEP 24: grasp(left,shot3) grasp(right,shaker1)
|
||
|
|
STEP 25: leave(right,shaker1) pour-shot-to-used-shaker(shot3,ingredient4,shaker1,left,l1,l2)
|
||
|
|
STEP 26.0: clean-shot(shot3,ingredient4,left,right)
|
||
|
|
STEP 26.1: grasp(right,shaker1) leave(left,shot3)
|
||
|
|
STEP 27.0: shake(cocktail4,ingredient4,ingredient2,shaker1,right,left)
|
||
|
|
STEP 27.1: grasp(left,shot11)
|
||
|
|
STEP 28.0: empty-shot(left,shot11,ingredient2) pour-shaker-to-shot(cocktail4,shot3,right,shaker1,l2,l1)
|
||
|
|
STEP 28.1: leave(right,shaker1)
|
||
|
|
STEP 29.0: refill-shot(shot11,ingredient2,left,right,dispenser2)
|
||
|
|
STEP 29.1: grasp(right,shaker1) leave(left,shot11)
|
||
|
|
STEP 30: empty-shaker(right,shaker1,cocktail4,l1,l0)
|
||
|
|
STEP 31.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 31.1: grasp(left,shot11) leave(right,shaker1)
|
||
|
|
STEP 32.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,left,l0,l1)
|
||
|
|
STEP 32.1: leave(left,shot11)
|
||
|
|
STEP 33.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient1,shaker1,right,l1,l2)
|
||
|
|
STEP 33.1: leave(right,shot10)
|
||
|
|
STEP 34.0: shake(cocktail7,ingredient2,ingredient1,shaker1,left,right)
|
||
|
|
STEP 34.1: grasp(right,shot11)
|
||
|
|
STEP 35: pour-shaker-to-shot(cocktail7,shot4,left,shaker1,l2,l1)
|
||
|
|
STEP 36.0: empty-shaker(left,shaker1,cocktail7,l1,l0)
|
||
|
|
STEP 36.1: leave(left,shaker1)
|
||
|
|
STEP 37.0: refill-shot(shot11,ingredient2,right,left,dispenser2)
|
||
|
|
STEP 37.1: grasp(left,shot10) leave(right,shot11)
|
||
|
|
STEP 38.0: refill-shot(shot10,ingredient1,left,right,dispenser1)
|
||
|
|
STEP 38.1: grasp(right,shaker1) leave(left,shot10)
|
||
|
|
STEP 39.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 39.1: grasp(left,shot10) leave(right,shaker1)
|
||
|
|
STEP 40.0: grasp(right,shot6) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,left,l0,l1)
|
||
|
|
STEP 40.1: leave(left,shot10)
|
||
|
|
STEP 41.0: refill-shot(shot6,ingredient3,right,left,dispenser3)
|
||
|
|
STEP 41.1: grasp(left,shot11) leave(right,shot6)
|
||
|
|
STEP 42.0: grasp(right,shot7) pour-shot-to-used-shaker(shot11,ingredient2,shaker1,left,l1,l2)
|
||
|
|
STEP 42.1: leave(left,shot11)
|
||
|
|
STEP 43.0: clean-shot(shot7,ingredient2,right,left)
|
||
|
|
STEP 43.1: grasp(left,shaker1) leave(right,shot7)
|
||
|
|
STEP 44.0: shake(cocktail3,ingredient2,ingredient1,shaker1,left,right)
|
||
|
|
STEP 44.1: grasp(right,shot7) leave(left,shaker1)
|
||
|
|
STEP 45.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
|
||
|
|
STEP 45.1: grasp(left,shaker1) leave(right,shot7)
|
||
|
|
STEP 46.0: pour-shaker-to-shot(cocktail3,shot8,left,shaker1,l2,l1)
|
||
|
|
STEP 46.1: leave(left,shaker1)
|
||
|
|
STEP 47: grasp(left,shot11) grasp(right,shaker1)
|
||
|
|
STEP 48: empty-shaker(right,shaker1,cocktail3,l1,l0) leave(left,shot11)
|
||
|
|
STEP 49.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 49.1: grasp(left,shot7) leave(right,shaker1)
|
||
|
|
STEP 50.0: grasp(right,shaker1) pour-shot-to-clean-shaker(shot7,ingredient3,shaker1,left,l0,l1)
|
||
|
|
STEP 50.1: leave(left,shot7)
|
||
|
|
STEP 51: grasp(left,shot11) leave(right,shaker1)
|
||
|
|
STEP 52: clean-shot(shot11,ingredient2,left,right)
|
||
|
|
STEP 53.0: fill-shot(shot11,ingredient1,left,right,dispenser1)
|
||
|
|
STEP 53.1: grasp(right,shaker1)
|
||
|
|
STEP 54.0: pour-shot-to-used-shaker(shot11,ingredient1,shaker1,left,l1,l2)
|
||
|
|
STEP 54.1: leave(left,shot11)
|
||
|
|
STEP 55: shake(cocktail1,ingredient1,ingredient3,shaker1,right,left)
|
||
|
|
STEP 56: pour-shaker-to-shot(cocktail1,shot5,right,shaker1,l2,l1)
|
||
|
|
STEP 57: empty-shaker(right,shaker1,cocktail1,l1,l0)
|
||
|
|
STEP 58.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 58.1: grasp(left,shot11) leave(right,shaker1)
|
||
|
|
STEP 59.0: refill-shot(shot11,ingredient1,left,right,dispenser1)
|
||
|
|
STEP 59.1: grasp(right,shot6)
|
||
|
|
STEP 60.0: pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
|
||
|
|
STEP 60.1: leave(left,shot11)
|
||
|
|
STEP 61.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot6,ingredient3,shaker1,right,l1,l2)
|
||
|
|
STEP 61.1: leave(right,shot6)
|
||
|
|
STEP 62.0: shake(cocktail2,ingredient1,ingredient3,shaker1,left,right)
|
||
|
|
STEP 62.1: grasp(right,shot6) leave(left,shaker1)
|
||
|
|
STEP 63.0: clean-shot(shot6,ingredient3,right,left)
|
||
|
|
STEP 63.1: grasp(left,shaker1) leave(right,shot6)
|
||
|
|
STEP 64: pour-shaker-to-shot(cocktail2,shot6,left,shaker1,l2,l1)
|
||
|
|
STEP 65.0: empty-shaker(left,shaker1,cocktail2,l1,l0)
|
||
|
|
STEP 65.1: leave(left,shaker1)
|
||
|
|
STEP 66: grasp(right,shaker1)
|
||
|
|
STEP 67.0: clean-shaker(right,left,shaker1)
|
||
|
|
STEP 67.1: grasp(left,shot11) leave(right,shaker1)
|
||
|
|
STEP 68.0: refill-shot(shot11,ingredient1,left,right,dispenser1)
|
||
|
|
STEP 68.1: grasp(right,shot7)
|
||
|
|
STEP 69.0: pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
|
||
|
|
STEP 69.1: leave(left,shot11)
|
||
|
|
STEP 70: clean-shot(shot7,ingredient3,right,left)
|
||
|
|
STEP 71.0: fill-shot(shot7,ingredient2,right,left,dispenser2)
|
||
|
|
STEP 71.1: grasp(left,shot11) leave(right,shot7)
|
||
|
|
STEP 72: clean-shot(shot11,ingredient1,left,right)
|
||
|
|
STEP 73.0: fill-shot(shot11,ingredient4,left,right,dispenser4)
|
||
|
|
STEP 73.1: grasp(right,shot7)
|
||
|
|
STEP 74.0: empty-shot(right,shot7,ingredient2) pour-shot-to-used-shaker(shot11,ingredient4,shaker1,left,l1,l2)
|
||
|
|
STEP 74.1: leave(left,shot11) leave(right,shot7)
|
||
|
|
STEP 75: grasp(left,shot7) grasp(right,shaker1)
|
||
|
|
STEP 76: leave(right,shaker1)
|
||
|
|
STEP 77.0: clean-shot(shot7,ingredient2,left,right)
|
||
|
|
STEP 77.1: grasp(right,shaker1) leave(left,shot7)
|
||
|
|
STEP 78.0: shake(cocktail9,ingredient4,ingredient1,shaker1,right,left)
|
||
|
|
STEP 78.1: grasp(left,shot11)
|
||
|
|
STEP 79: pour-shaker-to-shot(cocktail9,shot7,right,shaker1,l2,l1)
|
||
|
|
STEP 80.0: empty-shaker(right,shaker1,cocktail9,l1,l0)
|
||
|
|
STEP 80.1: leave(right,shaker1)
|
||
|
|
STEP 81.0: clean-shot(shot11,ingredient4,left,right)
|
||
|
|
STEP 81.1: leave(left,shot11)
|
||
|
|
STEP 82: grasp(right,shot11)
|
||
|
|
STEP 83.0: fill-shot(shot11,ingredient4,right,left,dispenser4)
|
||
|
|
STEP 83.1: grasp(left,shaker1) leave(right,shot11)
|
||
|
|
STEP 84.0: clean-shaker(left,right,shaker1)
|
||
|
|
STEP 84.1: grasp(right,shot11) leave(left,shaker1)
|
||
|
|
STEP 85.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot11,ingredient4,shaker1,right,l0,l1)
|
||
|
|
STEP 85.1: leave(right,shot11)
|
||
|
|
STEP 86: clean-shot(shot9,ingredient3,left,right)
|
||
|
|
STEP 87.0: fill-shot(shot9,ingredient2,left,right,dispenser2)
|
||
|
|
STEP 87.1: grasp(right,shot10)
|
||
|
|
STEP 88: leave(right,shot10) pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
|
||
|
|
STEP 89.0: clean-shot(shot9,ingredient2,left,right)
|
||
|
|
STEP 89.1: grasp(right,shaker1) leave(left,shot9)
|
||
|
|
STEP 90.0: shake(cocktail6,ingredient4,ingredient2,shaker1,right,left)
|
||
|
|
STEP 90.1: grasp(left,shot10)
|
||
|
|
STEP 91.0: pour-shaker-to-shot(cocktail6,shot9,right,shaker1,l2,l1)
|
||
|
|
STEP 91.1: leave(right,shaker1)
|
||
|
|
STEP 92: refill-shot(shot10,ingredient1,left,right,dispenser1)
|
||
|
|
203 actions in the plan.
|
||
|
|
Cost of the plan is 392.
|
||
|
|
|
||
|
|
|
||
|
|
# statistics in YAML format
|
||
|
|
---
|
||
|
|
runtime:
|
||
|
|
total: 1.29 # [s]
|
||
|
|
preprocessing: 0.06 # [s]
|
||
|
|
maxLearnedClauseLength: 12751
|
||
|
|
groundActions:
|
||
|
|
afterParsing: 2276
|
||
|
|
afterPreprocessing: 1420
|
||
|
|
stateVariables:
|
||
|
|
afterParsing: 391
|
||
|
|
afterPreprocessing: 267
|
||
|
|
stronglyConnectedComponents:
|
||
|
|
maxSize: 264
|
||
|
|
plan:
|
||
|
|
found: true
|
||
|
|
length: 115
|
||
|
|
actions: 203
|
||
|
|
iterations:
|
||
|
|
...
|
||
|
|
|