367 lines
13 KiB
Plaintext
367 lines
13 KiB
Plaintext
Madagascar 0.99999 31/01/2018 20:14:07 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-1.pddlignoring --stats
|
|
ignoring --stats-iter
|
|
ignoring --verbose
|
|
-m 8192
|
|
Domain: barman
|
|
Problem: prob
|
|
Parser: 1968 ground actions and 337 state variables
|
|
Invariants: 0 1 2 3 0.01 secs
|
|
Goal: conjunctive
|
|
Simplified: 1230 ground actions and 234 state variables
|
|
Actions: STRIPS
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 240)
|
|
Plan type: E-step
|
|
Allocated 32 MB permanent (total 130 MB)
|
|
Horizon 0: 234 variables
|
|
0 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 5: 11664 variables
|
|
Allocated 32 MB (total 316 MB)
|
|
5 UNSAT (56 decisions 56 conflicts)
|
|
Horizon 10: 23094 variables
|
|
Horizon 15: 34524 variables
|
|
Horizon 20: 45954 variables
|
|
Horizon 25: 57384 variables
|
|
Horizon 30: 68814 variables
|
|
Horizon 35: 80244 variables
|
|
Horizon 40: 91674 variables
|
|
Horizon 45: 103104 variables
|
|
Horizon 50: 114534 variables
|
|
10 UNSAT (559 decisions 535 conflicts)
|
|
Horizon 55: 125964 variables
|
|
Horizon 60: 137394 variables
|
|
Horizon 65: 148824 variables
|
|
Horizon 70: 160254 variables
|
|
Horizon 75: 171684 variables
|
|
Horizon 80: 183114 variables
|
|
Horizon 85: 194544 variables
|
|
Allocated 32 MB permanent (total 1761 MB)
|
|
Horizon 90: 205974 variables
|
|
Horizon 95: 217404 variables
|
|
Horizon 100: 228834 variables
|
|
Horizon 105: 240264 variables
|
|
Horizon 110: 251694 variables
|
|
GC: 12.45 MB
|
|
GC: 13.34 MB
|
|
15 UNSAT (5937 decisions 4870 conflicts)
|
|
Horizon 115: 263124 variables
|
|
SAT (23 ID 779 decisions 238 conflicts 263124 variables)
|
|
PLAN FOUND: 115 steps
|
|
STEP 0: grasp(left,shaker1) grasp(right,shot8)
|
|
STEP 1: leave(left,shaker1)
|
|
STEP 2.0: fill-shot(shot8,ingredient4,right,left,dispenser4)
|
|
STEP 2.1: grasp(left,shot10)
|
|
STEP 3.0: leave(left,shot10) pour-shot-to-clean-shaker(shot8,ingredient4,shaker1,right,l0,l1)
|
|
STEP 3.1: leave(right,shot8)
|
|
STEP 4: grasp(left,shot10)
|
|
STEP 5.0: fill-shot(shot10,ingredient3,left,right,dispenser3)
|
|
STEP 5.1: grasp(right,shaker1)
|
|
STEP 6.0: pour-shot-to-used-shaker(shot10,ingredient3,shaker1,left,l1,l2)
|
|
STEP 6.1: leave(left,shot10)
|
|
STEP 7.0: shake(cocktail4,ingredient3,ingredient4,shaker1,right,left)
|
|
STEP 7.1: grasp(left,shot2)
|
|
STEP 8.0: pour-shaker-to-shot(cocktail4,shot1,right,shaker1,l2,l1)
|
|
STEP 8.1: leave(right,shaker1)
|
|
STEP 9.0: fill-shot(shot2,ingredient2,left,right,dispenser2)
|
|
STEP 9.1: grasp(right,shaker1) leave(left,shot2)
|
|
STEP 10: empty-shaker(right,shaker1,cocktail4,l1,l0)
|
|
STEP 11.0: clean-shaker(right,left,shaker1)
|
|
STEP 11.1: grasp(left,shot2) leave(right,shaker1)
|
|
STEP 12.0: grasp(right,shot3) pour-shot-to-clean-shaker(shot2,ingredient2,shaker1,left,l0,l1)
|
|
STEP 12.1: leave(left,shot2)
|
|
STEP 13.0: fill-shot(shot3,ingredient3,right,left,dispenser3)
|
|
STEP 13.1: grasp(left,shot6) leave(right,shot3)
|
|
STEP 14.0: fill-shot(shot6,ingredient1,left,right,dispenser1)
|
|
STEP 14.1: grasp(right,shaker1) leave(left,shot6)
|
|
STEP 15: grasp(left,shot2) leave(right,shaker1)
|
|
STEP 16.0: clean-shot(shot2,ingredient2,left,right)
|
|
STEP 16.1: grasp(right,shot3) leave(left,shot2)
|
|
STEP 17.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot3,ingredient3,shaker1,right,l1,l2)
|
|
STEP 17.1: leave(right,shot3)
|
|
STEP 18.0: shake(cocktail2,ingredient2,ingredient3,shaker1,left,right)
|
|
STEP 18.1: grasp(right,shot3)
|
|
STEP 19.0: pour-shaker-to-shot(cocktail2,shot2,left,shaker1,l2,l1)
|
|
STEP 19.1: leave(left,shaker1)
|
|
STEP 20.0: clean-shot(shot3,ingredient3,right,left)
|
|
STEP 20.1: grasp(left,shot10) leave(right,shot3)
|
|
STEP 21.0: clean-shot(shot10,ingredient3,left,right)
|
|
STEP 21.1: leave(left,shot10)
|
|
STEP 22: grasp(right,shot10)
|
|
STEP 23.0: fill-shot(shot10,ingredient1,right,left,dispenser1)
|
|
STEP 23.1: grasp(left,shot4) leave(right,shot10)
|
|
STEP 24.0: fill-shot(shot4,ingredient2,left,right,dispenser2)
|
|
STEP 24.1: grasp(right,shaker1) leave(left,shot4)
|
|
STEP 25: empty-shaker(right,shaker1,cocktail2,l1,l0)
|
|
STEP 26.0: clean-shaker(right,left,shaker1)
|
|
STEP 26.1: grasp(left,shot4) leave(right,shaker1)
|
|
STEP 27.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot4,ingredient2,shaker1,left,l0,l1)
|
|
STEP 27.1: leave(left,shot4)
|
|
STEP 28.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient1,shaker1,right,l1,l2)
|
|
STEP 28.1: leave(right,shot10)
|
|
STEP 29.0: shake(cocktail6,ingredient1,ingredient2,shaker1,left,right)
|
|
STEP 29.1: grasp(right,shot10)
|
|
STEP 30: empty-shaker(left,shaker1,cocktail6,l2,l0) leave(right,shot10)
|
|
STEP 31.0: clean-shaker(left,right,shaker1)
|
|
STEP 31.1: grasp(right,shot9) leave(left,shaker1)
|
|
STEP 32.0: fill-shot(shot9,ingredient3,right,left,dispenser3)
|
|
STEP 32.1: grasp(left,shot10) leave(right,shot9)
|
|
STEP 33.0: refill-shot(shot10,ingredient1,left,right,dispenser1)
|
|
STEP 33.1: grasp(right,shot5) leave(left,shot10)
|
|
STEP 34.0: fill-shot(shot5,ingredient2,right,left,dispenser2)
|
|
STEP 34.1: grasp(left,shot6)
|
|
STEP 35.0: pour-shot-to-clean-shaker(shot5,ingredient2,shaker1,right,l0,l1)
|
|
STEP 35.1: leave(right,shot5)
|
|
STEP 36.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot6,ingredient1,shaker1,left,l1,l2)
|
|
STEP 36.1: leave(left,shot6)
|
|
STEP 37.0: shake(cocktail8,ingredient1,ingredient2,shaker1,right,left)
|
|
STEP 37.1: grasp(left,shot4)
|
|
STEP 38: leave(left,shot4) pour-shaker-to-shot(cocktail8,shot3,right,shaker1,l2,l1)
|
|
STEP 39: empty-shaker(right,shaker1,cocktail8,l1,l0)
|
|
STEP 40.0: clean-shaker(right,left,shaker1)
|
|
STEP 40.1: grasp(left,shot10) leave(right,shaker1)
|
|
STEP 41.0: grasp(right,shot4) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,left,l0,l1)
|
|
STEP 41.1: leave(left,shot10)
|
|
STEP 42.0: refill-shot(shot4,ingredient2,right,left,dispenser2)
|
|
STEP 42.1: grasp(left,shot5)
|
|
STEP 43.0: leave(left,shot5) pour-shot-to-used-shaker(shot4,ingredient2,shaker1,right,l1,l2)
|
|
STEP 43.1: leave(right,shot4)
|
|
STEP 44: grasp(right,shot10)
|
|
STEP 45: clean-shot(shot10,ingredient1,right,left)
|
|
STEP 46.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
|
|
STEP 46.1: grasp(left,shot4) leave(right,shot10)
|
|
STEP 47.0: clean-shot(shot4,ingredient2,left,right)
|
|
STEP 47.1: grasp(right,shot8) leave(left,shot4)
|
|
STEP 48.0: clean-shot(shot8,ingredient4,right,left)
|
|
STEP 48.1: grasp(left,shot7) leave(right,shot8)
|
|
STEP 49.0: fill-shot(shot7,ingredient4,left,right,dispenser4)
|
|
STEP 49.1: grasp(right,shot10) leave(left,shot7)
|
|
STEP 50.0: empty-shot(right,shot10,ingredient4) grasp(left,shaker1)
|
|
STEP 50.1: leave(right,shot10)
|
|
STEP 51.0: shake(cocktail6,ingredient1,ingredient2,shaker1,left,right)
|
|
STEP 51.1: grasp(right,shot10) leave(left,shaker1)
|
|
STEP 52: clean-shot(shot10,ingredient4,right,left)
|
|
STEP 53.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
|
|
STEP 53.1: grasp(left,shaker1) leave(right,shot10)
|
|
STEP 54: grasp(right,shot10) pour-shaker-to-shot(cocktail6,shot8,left,shaker1,l2,l1)
|
|
STEP 55.0: empty-shaker(left,shaker1,cocktail6,l1,l0) empty-shot(right,shot10,ingredient3)
|
|
STEP 55.1: leave(right,shot10)
|
|
STEP 56.0: clean-shaker(left,right,shaker1)
|
|
STEP 56.1: grasp(right,shot7) leave(left,shaker1)
|
|
STEP 57.0: grasp(left,shot5) pour-shot-to-clean-shaker(shot7,ingredient4,shaker1,right,l0,l1)
|
|
STEP 57.1: leave(right,shot7)
|
|
STEP 58.0: refill-shot(shot5,ingredient2,left,right,dispenser2)
|
|
STEP 58.1: grasp(right,shot10)
|
|
STEP 59.0: pour-shot-to-used-shaker(shot5,ingredient2,shaker1,left,l1,l2)
|
|
STEP 59.1: leave(left,shot5)
|
|
STEP 60.0: clean-shot(shot10,ingredient3,right,left)
|
|
STEP 60.1: grasp(left,shaker1) leave(right,shot10)
|
|
STEP 61: shake(cocktail7,ingredient2,ingredient4,shaker1,left,right)
|
|
STEP 62: pour-shaker-to-shot(cocktail7,shot4,left,shaker1,l2,l1)
|
|
STEP 63.0: pour-shaker-to-shot(cocktail7,shot10,left,shaker1,l1,l0)
|
|
STEP 63.1: leave(left,shaker1)
|
|
STEP 64: grasp(left,shot9) grasp(right,shaker1)
|
|
STEP 65.0: empty-shaker(right,shaker1,cocktail7,l0,l0) leave(left,shot9)
|
|
STEP 65.1: leave(right,shaker1)
|
|
STEP 66: grasp(left,shot5) grasp(right,shot9)
|
|
STEP 67: leave(right,shot9)
|
|
STEP 68.0: refill-shot(shot5,ingredient2,left,right,dispenser2)
|
|
STEP 68.1: grasp(right,shaker1) leave(left,shot5)
|
|
STEP 69.0: clean-shaker(right,left,shaker1)
|
|
STEP 69.1: grasp(left,shot9) leave(right,shaker1)
|
|
STEP 70.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot9,ingredient3,shaker1,left,l0,l1)
|
|
STEP 70.1: leave(left,shot9)
|
|
STEP 71.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot5,ingredient2,shaker1,right,l1,l2)
|
|
STEP 71.1: leave(right,shot5)
|
|
STEP 72.0: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
|
|
STEP 72.1: grasp(right,shot5) leave(left,shaker1)
|
|
STEP 73.0: clean-shot(shot5,ingredient2,right,left)
|
|
STEP 73.1: grasp(left,shot7) leave(right,shot5)
|
|
STEP 74.0: clean-shot(shot7,ingredient4,left,right)
|
|
STEP 74.1: grasp(right,shot9) leave(left,shot7)
|
|
STEP 75.0: refill-shot(shot9,ingredient3,right,left,dispenser3)
|
|
STEP 75.1: grasp(left,shot7) leave(right,shot9)
|
|
STEP 76.0: fill-shot(shot7,ingredient2,left,right,dispenser2)
|
|
STEP 76.1: grasp(right,shot6) leave(left,shot7)
|
|
STEP 77.0: clean-shot(shot6,ingredient1,right,left)
|
|
STEP 77.1: grasp(left,shaker1) leave(right,shot6)
|
|
STEP 78.0: pour-shaker-to-shot(cocktail5,shot6,left,shaker1,l2,l1)
|
|
STEP 78.1: leave(left,shaker1)
|
|
STEP 79: grasp(left,shot7) grasp(right,shaker1)
|
|
STEP 80: empty-shaker(right,shaker1,cocktail5,l1,l0) leave(left,shot7)
|
|
STEP 81.0: clean-shaker(right,left,shaker1)
|
|
STEP 81.1: grasp(left,shot9) leave(right,shaker1)
|
|
STEP 82.0: grasp(right,shot7) pour-shot-to-clean-shaker(shot9,ingredient3,shaker1,left,l0,l1)
|
|
STEP 82.1: leave(left,shot9)
|
|
STEP 83.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot7,ingredient2,shaker1,right,l1,l2)
|
|
STEP 83.1: leave(right,shot7)
|
|
STEP 84.0: shake(cocktail3,ingredient2,ingredient3,shaker1,left,right)
|
|
STEP 84.1: grasp(right,shot7)
|
|
STEP 85.0: pour-shaker-to-shot(cocktail3,shot5,left,shaker1,l2,l1)
|
|
STEP 85.1: leave(left,shaker1)
|
|
STEP 86.0: clean-shot(shot7,ingredient2,right,left)
|
|
STEP 86.1: grasp(left,shaker1) leave(right,shot7)
|
|
STEP 87: empty-shaker(left,shaker1,cocktail3,l1,l0)
|
|
STEP 88.0: clean-shaker(left,right,shaker1)
|
|
STEP 88.1: grasp(right,shot7) leave(left,shaker1)
|
|
STEP 89.0: fill-shot(shot7,ingredient4,right,left,dispenser4)
|
|
STEP 89.1: grasp(left,shot9)
|
|
STEP 90.0: pour-shot-to-clean-shaker(shot7,ingredient4,shaker1,right,l0,l1)
|
|
STEP 90.1: leave(right,shot7)
|
|
STEP 91.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
|
|
STEP 91.1: leave(left,shot9)
|
|
STEP 92: grasp(left,shaker1) grasp(right,shot9)
|
|
STEP 93.0: pour-shot-to-used-shaker(shot9,ingredient3,shaker1,right,l1,l2)
|
|
STEP 93.1: leave(right,shot9)
|
|
STEP 94.0: shake(cocktail1,ingredient3,ingredient4,shaker1,left,right)
|
|
STEP 94.1: grasp(right,shot7) leave(left,shaker1)
|
|
STEP 95.0: clean-shot(shot7,ingredient4,right,left)
|
|
STEP 95.1: grasp(left,shaker1) leave(right,shot7)
|
|
STEP 96.0: grasp(right,shot9) pour-shaker-to-shot(cocktail1,shot7,left,shaker1,l2,l1)
|
|
STEP 96.1: leave(left,shaker1)
|
|
STEP 97: refill-shot(shot9,ingredient3,right,left,dispenser3)
|
|
233 actions in the plan.
|
|
Cost of the plan is 422.
|
|
|
|
|
|
# statistics in YAML format
|
|
---
|
|
runtime:
|
|
total: 8.32 # [s]
|
|
preprocessing: 0.03 # [s]
|
|
maxLearnedClauseLength: 8707
|
|
groundActions:
|
|
afterParsing: 1968
|
|
afterPreprocessing: 1230
|
|
stateVariables:
|
|
afterParsing: 337
|
|
afterPreprocessing: 234
|
|
stronglyConnectedComponents:
|
|
maxSize: 240
|
|
plan:
|
|
found: true
|
|
length: 115
|
|
actions: 233
|
|
iterations:
|
|
- horizon: 0
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 234
|
|
- horizon: 5
|
|
result: unsatisfiable
|
|
conflicts: 56
|
|
decisions: 56
|
|
variables: 11664
|
|
- horizon: 10
|
|
result: unsatisfiable
|
|
conflicts: 535
|
|
decisions: 559
|
|
variables: 23094
|
|
- horizon: 15
|
|
result: unsatisfiable
|
|
conflicts: 4870
|
|
decisions: 5937
|
|
variables: 34524
|
|
- horizon: 20
|
|
result: unknown
|
|
conflicts: 4749
|
|
decisions: 6513
|
|
variables: 45954
|
|
- horizon: 25
|
|
result: unknown
|
|
conflicts: 4264
|
|
decisions: 6562
|
|
variables: 57384
|
|
- horizon: 30
|
|
result: unknown
|
|
conflicts: 3908
|
|
decisions: 6492
|
|
variables: 68814
|
|
- horizon: 35
|
|
result: unknown
|
|
conflicts: 3545
|
|
decisions: 6060
|
|
variables: 80244
|
|
- horizon: 40
|
|
result: unknown
|
|
conflicts: 3182
|
|
decisions: 5930
|
|
variables: 91674
|
|
- horizon: 45
|
|
result: unknown
|
|
conflicts: 2888
|
|
decisions: 5397
|
|
variables: 103104
|
|
- horizon: 50
|
|
result: unknown
|
|
conflicts: 2585
|
|
decisions: 5359
|
|
variables: 114534
|
|
- horizon: 55
|
|
result: unknown
|
|
conflicts: 2343
|
|
decisions: 4744
|
|
variables: 125964
|
|
- horizon: 60
|
|
result: unknown
|
|
conflicts: 2106
|
|
decisions: 4051
|
|
variables: 137394
|
|
- horizon: 65
|
|
result: unknown
|
|
conflicts: 1923
|
|
decisions: 4048
|
|
variables: 148824
|
|
- horizon: 70
|
|
result: unknown
|
|
conflicts: 1744
|
|
decisions: 3680
|
|
variables: 160254
|
|
- horizon: 75
|
|
result: unknown
|
|
conflicts: 1563
|
|
decisions: 3598
|
|
variables: 171684
|
|
- horizon: 80
|
|
result: unknown
|
|
conflicts: 1382
|
|
decisions: 2841
|
|
variables: 183114
|
|
- horizon: 85
|
|
result: unknown
|
|
conflicts: 1261
|
|
decisions: 2686
|
|
variables: 194544
|
|
- horizon: 90
|
|
result: unknown
|
|
conflicts: 1141
|
|
decisions: 2508
|
|
variables: 205974
|
|
- horizon: 95
|
|
result: unknown
|
|
conflicts: 1023
|
|
decisions: 2401
|
|
variables: 217404
|
|
- horizon: 100
|
|
result: unknown
|
|
conflicts: 961
|
|
decisions: 2079
|
|
variables: 228834
|
|
- horizon: 105
|
|
result: unknown
|
|
conflicts: 840
|
|
decisions: 1799
|
|
variables: 240264
|
|
- horizon: 110
|
|
result: unknown
|
|
conflicts: 780
|
|
decisions: 1692
|
|
variables: 251694
|
|
- horizon: 115
|
|
result: satisfiable
|
|
conflicts: 238
|
|
decisions: 779
|
|
variables: 263124
|
|
...
|
|
|