Madagascar 0.99999 25/02/2015 09:46:27 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-4.pddlignoring --stats
ignoring --verbose
 -m 8192
Domain: barman
Problem: prob
Parser: 1968 ground actions and 337 state variables
Invariants: 0 1 2 3  0.02 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)
Horizon 10: 23094 variables
5 UNSAT (61 decisions 61 conflicts)
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
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
10 UNSAT (1033 decisions 946 conflicts)
				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: 11.24 MB
SAT (1668 decisions 691 conflicts)
PLAN FOUND: 90 steps
STEP 0: grasp(left,shot10)
STEP 1.0: fill-shot(shot10,ingredient4,left,right,dispenser4)
STEP 1.1: grasp(right,shot9) leave(left,shot10)
STEP 2.0: fill-shot(shot9,ingredient2,right,left,dispenser2)
STEP 2.1: grasp(left,shot10)
STEP 3.0: pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,left,l0,l1)
STEP 3.1: leave(left,shot10)
STEP 4.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot9,ingredient2,shaker1,right,l1,l2)
STEP 4.1: leave(right,shot9)
STEP 5.0: shake(cocktail5,ingredient2,ingredient4,shaker1,left,right)
STEP 5.1: grasp(right,shot10)
STEP 6.0: pour-shaker-to-shot(cocktail5,shot1,left,shaker1,l2,l1)
STEP 6.1: leave(left,shaker1)
STEP 7: clean-shot(shot10,ingredient4,right,left)
STEP 8.0: fill-shot(shot10,ingredient1,right,left,dispenser1)
STEP 8.1: grasp(left,shaker1) leave(right,shot10)
STEP 9: empty-shaker(left,shaker1,cocktail5,l1,l0)
STEP 10.0: clean-shaker(left,right,shaker1)
STEP 10.1: grasp(right,shot6) leave(left,shaker1)
STEP 11.0: fill-shot(shot6,ingredient3,right,left,dispenser3)
STEP 11.1: grasp(left,shot3)
STEP 12.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,right,l0,l1)
STEP 12.1: leave(right,shot6)
STEP 13.0: fill-shot(shot3,ingredient4,left,right,dispenser4)
STEP 13.1: grasp(right,shaker1)
STEP 14.0: pour-shot-to-used-shaker(shot3,ingredient4,shaker1,left,l1,l2)
STEP 14.1: leave(left,shot3)
STEP 15: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
STEP 16: pour-shaker-to-shot(cocktail7,shot2,right,shaker1,l2,l1)
STEP 17: empty-shaker(right,shaker1,cocktail7,l1,l0)
STEP 18.0: clean-shaker(right,left,shaker1)
STEP 18.1: grasp(left,shot3) leave(right,shaker1)
STEP 19.0: clean-shot(shot3,ingredient4,left,right)
STEP 19.1: grasp(right,shot6) leave(left,shot3)
STEP 20.0: refill-shot(shot6,ingredient3,right,left,dispenser3)
STEP 20.1: grasp(left,shot9)
STEP 21.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,right,l0,l1)
STEP 21.1: leave(right,shot6)
STEP 22.0: refill-shot(shot9,ingredient2,left,right,dispenser2)
STEP 22.1: grasp(right,shaker1)
STEP 23.0: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
STEP 23.1: leave(left,shot9)
STEP 24.0: shake(cocktail6,ingredient2,ingredient3,shaker1,right,left)
STEP 24.1: grasp(left,shot10)
STEP 25: leave(left,shot10) pour-shaker-to-shot(cocktail6,shot3,right,shaker1,l2,l1)
STEP 26: empty-shaker(right,shaker1,cocktail6,l1,l0)
STEP 27.0: clean-shaker(right,left,shaker1)
STEP 27.1: grasp(left,shot6) leave(right,shaker1)
STEP 28.0: refill-shot(shot6,ingredient3,left,right,dispenser3)
STEP 28.1: grasp(right,shot10)
STEP 29.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,left,l0,l1)
STEP 29.1: leave(left,shot6)
STEP 30.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient1,shaker1,right,l1,l2)
STEP 30.1: leave(right,shot10)
STEP 31.0: shake(cocktail1,ingredient1,ingredient3,shaker1,left,right)
STEP 31.1: grasp(right,shot5)
STEP 32.0: empty-shaker(left,shaker1,cocktail1,l2,l0)
STEP 32.1: leave(left,shaker1)
STEP 33.0: fill-shot(shot5,ingredient1,right,left,dispenser1)
STEP 33.1: grasp(left,shot8) leave(right,shot5)
STEP 34.0: fill-shot(shot8,ingredient3,left,right,dispenser3)
STEP 34.1: grasp(right,shot10) leave(left,shot8)
STEP 35.0: refill-shot(shot10,ingredient1,right,left,dispenser1)
STEP 35.1: grasp(left,shaker1) leave(right,shot10)
STEP 36.0: clean-shaker(left,right,shaker1)
STEP 36.1: grasp(right,shot10) leave(left,shaker1)
STEP 37.0: grasp(left,shot8) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,right,l0,l1)
STEP 37.1: leave(right,shot10)
STEP 38.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
STEP 38.1: leave(left,shot8)
STEP 39.0: shake(cocktail2,ingredient1,ingredient3,shaker1,right,left)
STEP 39.1: grasp(left,shot5)
STEP 40.0: empty-shot(left,shot5,ingredient1) pour-shaker-to-shot(cocktail2,shot4,right,shaker1,l2,l1)
STEP 40.1: leave(left,shot5)
STEP 41: empty-shaker(right,shaker1,cocktail2,l1,l0)
STEP 42.0: clean-shaker(right,left,shaker1)
STEP 42.1: leave(right,shaker1)
STEP 43: grasp(left,shaker1) grasp(right,shot6)
STEP 44: leave(left,shaker1)
STEP 45.0: refill-shot(shot6,ingredient3,right,left,dispenser3)
STEP 45.1: grasp(left,shot10) leave(right,shot6)
STEP 46.0: refill-shot(shot10,ingredient1,left,right,dispenser1)
STEP 46.1: grasp(right,shot7)
STEP 47.0: pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,left,l0,l1)
STEP 47.1: leave(left,shot10)
STEP 48.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
STEP 48.1: grasp(left,shot5)
STEP 49.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
STEP 49.1: leave(right,shot7)
STEP 50.0: clean-shot(shot5,ingredient1,left,right)
STEP 50.1: grasp(right,shaker1) leave(left,shot5)
STEP 51.0: shake(cocktail1,ingredient1,ingredient3,shaker1,right,left)
STEP 51.1: grasp(left,shot6)
STEP 52.0: empty-shot(left,shot6,ingredient3) pour-shaker-to-shot(cocktail1,shot5,right,shaker1,l2,l1)
STEP 52.1: leave(left,shot6) leave(right,shaker1)
STEP 53: grasp(left,shaker1)
STEP 54: empty-shaker(left,shaker1,cocktail1,l1,l0)
STEP 55.0: clean-shaker(left,right,shaker1)
STEP 55.1: grasp(right,shot10) leave(left,shaker1)
STEP 56: clean-shot(shot10,ingredient1,right,left)
STEP 57.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
STEP 57.1: grasp(left,shot6)
STEP 58.0: pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
STEP 58.1: leave(right,shot10)
STEP 59.0: clean-shot(shot6,ingredient3,left,right)
STEP 59.1: grasp(right,shot7) leave(left,shot6)
STEP 60.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
STEP 60.1: grasp(left,shaker1) leave(right,shot7)
STEP 61: grasp(right,shot7)
STEP 62.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
STEP 62.1: leave(right,shot7)
STEP 63.0: shake(cocktail4,ingredient3,ingredient4,shaker1,left,right)
STEP 63.1: grasp(right,shot10)
STEP 64.0: pour-shaker-to-shot(cocktail4,shot6,left,shaker1,l2,l1)
STEP 64.1: leave(left,shaker1)
STEP 65: clean-shot(shot10,ingredient4,right,left)
STEP 66.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
STEP 66.1: grasp(left,shaker1) leave(right,shot10)
STEP 67.0: empty-shaker(left,shaker1,cocktail4,l1,l0) grasp(right,shot9)
STEP 67.1: leave(left,shaker1)
STEP 68.0: refill-shot(shot9,ingredient2,right,left,dispenser2)
STEP 68.1: grasp(left,shaker1) leave(right,shot9)
STEP 69.0: clean-shaker(left,right,shaker1)
STEP 69.1: leave(left,shaker1)
STEP 70: grasp(left,shot7) grasp(right,shaker1)
STEP 71: leave(right,shaker1)
STEP 72.0: clean-shot(shot7,ingredient3,left,right)
STEP 72.1: grasp(right,shot10) leave(left,shot7)
STEP 73.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,right,l0,l1)
STEP 73.1: leave(right,shot10)
STEP 74.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
STEP 74.1: leave(left,shot9)
STEP 75.0: shake(cocktail3,ingredient3,ingredient2,shaker1,right,left)
STEP 75.1: grasp(left,shot8)
STEP 76.0: pour-shaker-to-shot(cocktail3,shot7,right,shaker1,l2,l1)
STEP 76.1: leave(right,shaker1)
STEP 77.0: clean-shot(shot8,ingredient3,left,right)
STEP 77.1: grasp(right,shaker1) leave(left,shot8)
STEP 78: empty-shaker(right,shaker1,cocktail3,l1,l0)
STEP 79.0: clean-shaker(right,left,shaker1)
STEP 79.1: grasp(left,shot8) leave(right,shaker1)
STEP 80.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
STEP 80.1: grasp(right,shot9)
STEP 81: leave(right,shot9) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
STEP 82: clean-shot(shot8,ingredient1,left,right)
STEP 83.0: fill-shot(shot8,ingredient3,left,right,dispenser3)
STEP 83.1: grasp(right,shaker1)
STEP 84.0: pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
STEP 84.1: leave(left,shot8)
STEP 85.0: shake(cocktail8,ingredient1,ingredient3,shaker1,right,left)
STEP 85.1: grasp(left,shot8) leave(right,shaker1)
STEP 86.0: clean-shot(shot8,ingredient3,left,right)
STEP 86.1: grasp(right,shaker1) leave(left,shot8)
STEP 87.0: grasp(left,shot9) pour-shaker-to-shot(cocktail8,shot8,right,shaker1,l2,l1)
STEP 87.1: leave(right,shaker1)
STEP 88: refill-shot(shot9,ingredient2,left,right,dispenser2)
193 actions in the plan.
Cost of the plan is 382.
total time 4.60 preprocess 0.04 
total size 2.151 GB
max. learned clause length 7537
t val conflicts decisions
0 0 0 0
5 0 61 61
10 0 946 1033
15 -1 3064 3945
20 -1 2826 3958
25 -1 2525 3961
30 -1 2286 3753
35 -1 2042 3530
40 -1 1861 3326
45 -1 1683 3075
50 -1 1502 2972
55 -1 1380 2674
60 -1 1262 2578
65 -1 1142 2418
70 -1 1023 2224
75 -1 903 1930
80 -1 842 1617
85 -1 781 1679
90 1 691 1668