128 lines
4.7 KiB
Plaintext
128 lines
4.7 KiB
Plaintext
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Madagascar 0.99999 01/02/2018 14:46:04 amd64 1-core (no VSIDS)
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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-11.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 85 -T 85
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Domain: tidybot
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Problem: test
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Parser: 54050 ground actions and 920 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 6.17 secs
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Goal: conjunctive
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Simplified: 26159 ground actions and 413 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.36 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 407 MB)
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Allocated 32 MB permanent (total 654 MB)
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Horizon 85: 2259033 variables
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Allocated 32 MB (total 692 MB)
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SAT (0 ID 689 decisions 351 conflicts 2259033 variables)
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PLAN FOUND: 85 steps
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STEP 0: finish-object(object0,x3,y5) gripper-right(pr2,x0,y0,xrel0,xrel1,x0,x1,yrel0,y0)
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STEP 1.0: get-down(pr2,x0,y0,xrel1,x1,yrel0,y0,object1,y1)
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STEP 1.1: gripper-left(pr2,x0,y0,xrel1,xrel0,x1,x0,yrel0,y0)
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STEP 2: unpark(pr2,xrel0,yrel0)
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STEP 3: base-right(pr2,x0,x1,y0)
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STEP 4: base-right(pr2,x1,x2,y0)
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STEP 5: base-left(pr2,x2,x1,y0)
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STEP 6: base-left(pr2,x1,x0,y0)
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STEP 7: base-right(pr2,x0,x1,y0)
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STEP 8: base-right(pr2,x1,x2,y0)
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STEP 9: base-down(pr2,x2,y0,y1)
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STEP 10: base-down(pr2,x2,y1,y2)
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STEP 11: base-left(pr2,x2,x1,y2)
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STEP 12: base-down(pr2,x1,y2,y3)
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STEP 13: base-down(pr2,x1,y3,y4)
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STEP 14: base-down(pr2,x1,y4,y5)
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STEP 15: base-up(pr2,x1,y5,y4)
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STEP 16: base-down(pr2,x1,y4,y5)
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STEP 17.0: base-down(pr2,x1,y5,y6)
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STEP 17.1: park(pr2)
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STEP 18: gripper-up(pr2,x1,y6,xrel0,x1,yrel0,yrel-1,y6,y5)
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STEP 19: gripper-down(pr2,x1,y6,xrel0,x1,yrel-1,yrel0,y5,y6)
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STEP 20: unpark(pr2,xrel0,yrel0)
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STEP 21: base-left(pr2,x1,x0,y6)
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STEP 22: base-down(pr2,x0,y6,y7)
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STEP 23: base-right(pr2,x0,x1,y7)
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STEP 24.0: base-down(pr2,x1,y7,y8)
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STEP 24.1: park(pr2)
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STEP 25: gripper-left(pr2,x1,y8,xrel0,xrel-1,x1,x0,yrel0,y8)
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STEP 26: gripper-right(pr2,x1,y8,xrel-1,xrel0,x0,x1,yrel0,y8)
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STEP 27: unpark(pr2,xrel0,yrel0)
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STEP 28: base-right(pr2,x1,x2,y8)
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STEP 29.0: base-right(pr2,x2,x3,y8)
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STEP 29.1: park(pr2)
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STEP 30: gripper-down(pr2,x3,y8,xrel0,x3,yrel0,yrel1,y8,y9)
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STEP 31: gripper-up(pr2,x3,y8,xrel0,x3,yrel1,yrel0,y9,y8)
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STEP 32: unpark(pr2,xrel0,yrel0)
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STEP 33: base-up(pr2,x3,y8,y7)
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STEP 34.0: base-up(pr2,x3,y7,y6)
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STEP 34.1: park(pr2)
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STEP 35: gripper-down(pr2,x3,y6,xrel0,x3,yrel0,yrel1,y6,y7)
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STEP 36: put-up(pr2,x3,y6,xrel0,x3,yrel1,y7,object1,y6)
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STEP 37.0: finish-object(object1,x3,y6) get-up(pr2,x3,y6,xrel0,x3,yrel1,y7,object3,y6)
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STEP 37.1: gripper-right(pr2,x3,y6,xrel0,xrel1,x3,x4,yrel1,y7)
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STEP 38.0: put-up(pr2,x3,y6,xrel1,x4,yrel1,y7,object3,y6)
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STEP 38.1: gripper-left(pr2,x3,y6,xrel1,xrel0,x4,x3,yrel1,y7)
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STEP 39: finish-object(object3,x4,y6) gripper-up(pr2,x3,y6,xrel0,x3,yrel1,yrel0,y7,y6)
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STEP 40: unpark(pr2,xrel0,yrel0)
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STEP 41.0: base-right(pr2,x3,x4,y6)
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STEP 41.1: park(pr2)
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STEP 42: gripper-up(pr2,x4,y6,xrel0,x4,yrel0,yrel-1,y6,y5)
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STEP 43: gripper-down(pr2,x4,y6,xrel0,x4,yrel-1,yrel0,y5,y6)
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STEP 44: unpark(pr2,xrel0,yrel0)
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STEP 45: base-down(pr2,x4,y6,y7)
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STEP 46.0: base-down(pr2,x4,y7,y8)
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STEP 46.1: park(pr2)
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STEP 47: gripper-up(pr2,x4,y8,xrel0,x4,yrel0,yrel-1,y8,y7)
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STEP 48: gripper-down(pr2,x4,y8,xrel0,x4,yrel-1,yrel0,y7,y8)
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STEP 49: unpark(pr2,xrel0,yrel0)
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STEP 50: base-up(pr2,x4,y8,y7)
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STEP 51: base-left(pr2,x4,x3,y7)
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STEP 52: base-down(pr2,x3,y7,y8)
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STEP 53: base-right(pr2,x3,x4,y8)
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STEP 54.0: base-right(pr2,x4,x5,y8)
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STEP 54.1: park(pr2)
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STEP 55: gripper-right(pr2,x5,y8,xrel0,xrel1,x5,x6,yrel0,y8)
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STEP 56: gripper-up(pr2,x5,y8,xrel1,x6,yrel0,yrel-1,y8,y7)
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STEP 57.0: get-right(pr2,x5,y8,xrel1,x6,yrel-1,y7,object2,x7)
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STEP 57.1: gripper-down(pr2,x5,y8,xrel1,x6,yrel-1,yrel0,y7,y8)
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STEP 58: gripper-left(pr2,x5,y8,xrel1,xrel0,x6,x5,yrel0,y8)
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STEP 59: unpark(pr2,xrel0,yrel0)
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STEP 60.0: base-right(pr2,x5,x6,y8)
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STEP 60.1: park(pr2)
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STEP 61: gripper-up(pr2,x6,y8,xrel0,x6,yrel0,yrel-1,y8,y7)
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STEP 62: gripper-down(pr2,x6,y8,xrel0,x6,yrel-1,yrel0,y7,y8)
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STEP 63: unpark(pr2,xrel0,yrel0)
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STEP 64: base-left(pr2,x6,x5,y8)
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STEP 65: base-left(pr2,x5,x4,y8)
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STEP 66: base-up(pr2,x4,y8,y7)
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STEP 67.0: base-up(pr2,x4,y7,y6)
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STEP 67.1: park(pr2)
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STEP 68: put-up(pr2,x4,y6,xrel0,x4,yrel0,y6,object2,y5)
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STEP 69: finish-object(object2,x4,y5)
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86 actions in the plan.
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# statistics in YAML format
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---
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runtime:
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total: 16.73 # [s]
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preprocessing: 13.44 # [s]
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maxLearnedClauseLength: 79220
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groundActions:
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afterParsing: 54050
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afterPreprocessing: 26159
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stateVariables:
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afterParsing: 920
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afterPreprocessing: 413
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stronglyConnectedComponents:
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maxSize: 10
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plan:
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found: true
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length: 85
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actions: 86
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iterations:
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...
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