132 lines
5.1 KiB
Plaintext
132 lines
5.1 KiB
Plaintext
|
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/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-15.pddlignoring --stats
|
||
|
|
ignoring --verbose
|
||
|
|
-m 8192
|
||
|
|
Domain: tidybot
|
||
|
|
Problem: test
|
||
|
|
Parser: 54482 ground actions and 923 state variables
|
||
|
|
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 5.56 secs
|
||
|
|
Goal: conjunctive
|
||
|
|
Simplified: 24195 ground actions and 416 state variables
|
||
|
|
Actions: STRIPS
|
||
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.21 secs (max SCC size 10)
|
||
|
|
Plan type: E-step
|
||
|
|
Allocated 32 MB permanent (total 380 MB)
|
||
|
|
Horizon 0: 416 variables
|
||
|
|
0 UNSAT (0 decisions 0 conflicts)
|
||
|
|
Horizon 5: 123471 variables
|
||
|
|
5 UNSAT (0 decisions 0 conflicts)
|
||
|
|
Horizon 10: 246526 variables
|
||
|
|
10 UNSAT (0 decisions 0 conflicts)
|
||
|
|
Horizon 15: 369581 variables
|
||
|
|
15 UNSAT (0 decisions 0 conflicts)
|
||
|
|
Horizon 20: 492636 variables
|
||
|
|
Allocated 32 MB (total 877 MB)
|
||
|
|
Allocated 32 MB permanent (total 1022 MB)
|
||
|
|
Horizon 25: 615691 variables
|
||
|
|
Horizon 30: 738746 variables
|
||
|
|
Allocated 32 MB permanent (total 1301 MB)
|
||
|
|
Horizon 35: 861801 variables
|
||
|
|
20 UNSAT (228 decisions 211 conflicts)
|
||
|
|
Allocated 32 MB permanent (total 1468 MB)
|
||
|
|
Horizon 40: 984856 variables
|
||
|
|
Allocated 32 MB permanent (total 1642 MB)
|
||
|
|
Horizon 45: 1107911 variables
|
||
|
|
Allocated 32 MB permanent (total 1823 MB)
|
||
|
|
Horizon 50: 1230966 variables
|
||
|
|
Allocated 32 MB permanent (total 2011 MB)
|
||
|
|
Horizon 55: 1354021 variables
|
||
|
|
Allocated 32 MB permanent (total 2207 MB)
|
||
|
|
Horizon 60: 1477076 variables
|
||
|
|
Allocated 32 MB permanent (total 2410 MB)
|
||
|
|
Horizon 65: 1600131 variables
|
||
|
|
SAT (143 decisions 84 conflicts)
|
||
|
|
PLAN FOUND: 60 steps
|
||
|
|
STEP 0: unpark(pr2,xrel0,yrel0)
|
||
|
|
STEP 1: base-right(pr2,x0,x1,y0)
|
||
|
|
STEP 2: base-right(pr2,x1,x2,y0)
|
||
|
|
STEP 3: base-right(pr2,x2,x3,y0)
|
||
|
|
STEP 4: base-right(pr2,x3,x4,y0)
|
||
|
|
STEP 5: base-right(pr2,x4,x5,y0)
|
||
|
|
STEP 6: base-right(pr2,x5,x6,y0)
|
||
|
|
STEP 7: base-right(pr2,x6,x7,y0)
|
||
|
|
STEP 8: base-left(pr2,x7,x6,y0)
|
||
|
|
STEP 9: base-down(pr2,x6,y0,y1)
|
||
|
|
STEP 10: base-left(pr2,x6,x5,y1)
|
||
|
|
STEP 11: base-down(pr2,x5,y1,y2)
|
||
|
|
STEP 12: base-up(pr2,x5,y2,y1)
|
||
|
|
STEP 13: base-down(pr2,x5,y1,y2)
|
||
|
|
STEP 14: base-down(pr2,x5,y2,y3)
|
||
|
|
STEP 15: base-down(pr2,x5,y3,y4)
|
||
|
|
STEP 16: base-down(pr2,x5,y4,y5)
|
||
|
|
STEP 17.0: base-left(pr2,x5,x4,y5)
|
||
|
|
STEP 17.1: park(pr2)
|
||
|
|
STEP 18.0: get-down(pr2,x4,y5,xrel0,x4,yrel0,y5,object0,y6)
|
||
|
|
STEP 18.1: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
|
||
|
|
STEP 19: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4)
|
||
|
|
STEP 20.0: put-up(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,y3)
|
||
|
|
STEP 20.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel-1,yrel0,y4,y5)
|
||
|
|
STEP 21: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
|
||
|
|
STEP 22: unpark(pr2,xrel0,yrel0)
|
||
|
|
STEP 23: base-left(pr2,x4,x3,y5)
|
||
|
|
STEP 24: base-up(pr2,x3,y5,y4)
|
||
|
|
STEP 25: base-up(pr2,x3,y4,y3)
|
||
|
|
STEP 26.0: base-left(pr2,x3,x2,y3)
|
||
|
|
STEP 26.1: park(pr2)
|
||
|
|
STEP 27.0: get-up(pr2,x2,y3,xrel0,x2,yrel0,y3,object1,y2)
|
||
|
|
STEP 27.1: unpark(pr2,xrel0,yrel0)
|
||
|
|
STEP 28.0: base-right(pr2,x2,x3,y3)
|
||
|
|
STEP 28.1: park(pr2)
|
||
|
|
STEP 29: gripper-up(pr2,x3,y3,xrel0,x3,yrel0,yrel-1,y3,y2)
|
||
|
|
STEP 30: put-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object1,y3)
|
||
|
|
STEP 31: get-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,y3)
|
||
|
|
STEP 32: put-left(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,x2)
|
||
|
|
STEP 33: finish-object(object0,x2,y2) gripper-down(pr2,x3,y3,xrel0,x3,yrel-1,yrel0,y2,y3)
|
||
|
|
STEP 34: get-left(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,x2)
|
||
|
|
STEP 35.0: put-up(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,y2)
|
||
|
|
STEP 35.1: gripper-down(pr2,x3,y3,xrel0,x3,yrel0,yrel1,y3,y4)
|
||
|
|
STEP 36.0: finish-object(object2,x3,y2) get-up(pr2,x3,y3,xrel0,x3,yrel1,y4,object1,y3)
|
||
|
|
STEP 36.1: gripper-left(pr2,x3,y3,xrel0,xrel-1,x3,x2,yrel1,y4)
|
||
|
|
STEP 37.0: put-up(pr2,x3,y3,xrel-1,x2,yrel1,y4,object1,y3)
|
||
|
|
STEP 37.1: gripper-right(pr2,x3,y3,xrel-1,xrel0,x2,x3,yrel1,y4)
|
||
|
|
STEP 38: finish-object(object1,x2,y3) gripper-up(pr2,x3,y3,xrel0,x3,yrel1,yrel0,y4,y3)
|
||
|
|
STEP 39: unpark(pr2,xrel0,yrel0)
|
||
|
|
STEP 40: base-down(pr2,x3,y3,y4)
|
||
|
|
STEP 41.0: base-down(pr2,x3,y4,y5)
|
||
|
|
STEP 41.1: park(pr2)
|
||
|
|
STEP 42: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
|
||
|
|
STEP 43: gripper-down(pr2,x3,y5,xrel-1,x2,yrel0,yrel1,y5,y6)
|
||
|
|
STEP 44.0: get-left(pr2,x3,y5,xrel-1,x2,yrel1,y6,object3,x1)
|
||
|
|
STEP 44.1: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel1,y6)
|
||
|
|
STEP 45: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel1,y6)
|
||
|
|
STEP 46: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel1,y6)
|
||
|
|
STEP 47: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
|
||
|
|
STEP 48: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
|
||
|
|
STEP 49: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
|
||
|
|
STEP 50: unpark(pr2,xrel0,yrel0)
|
||
|
|
STEP 51: base-down(pr2,x3,y5,y6)
|
||
|
|
STEP 52.0: base-down(pr2,x3,y6,y7)
|
||
|
|
STEP 52.1: park(pr2)
|
||
|
|
STEP 53: gripper-right(pr2,x3,y7,xrel0,xrel1,x3,x4,yrel0,y7)
|
||
|
|
STEP 54: put-right(pr2,x3,y7,xrel1,x4,yrel0,y7,object3,x5)
|
||
|
|
STEP 55: finish-object(object3,x5,y7)
|
||
|
|
71 actions in the plan.
|
||
|
|
total time 18.07 preprocess 11.56
|
||
|
|
total size 2.657 GB
|
||
|
|
max. learned clause length 102412
|
||
|
|
t val conflicts decisions
|
||
|
|
0 0 0 0
|
||
|
|
5 0 0 0
|
||
|
|
10 0 0 0
|
||
|
|
15 0 0 0
|
||
|
|
20 0 211 228
|
||
|
|
25 -1 542 660
|
||
|
|
30 -1 480 593
|
||
|
|
35 -1 420 570
|
||
|
|
40 -1 360 491
|
||
|
|
45 -1 301 438
|
||
|
|
50 -1 240 343
|
||
|
|
55 -1 182 265
|
||
|
|
60 1 84 143
|
||
|
|
|