95 lines
3.5 KiB
Plaintext
95 lines
3.5 KiB
Plaintext
Madagascar 0.99999 25/02/2015 09:46:27 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-7.pddlignoring --stats
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ignoring --verbose
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-m 8192
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Domain: tidybot
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Problem: test
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Parser: 38083 ground actions and 761 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 2.45 secs
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Goal: conjunctive
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Simplified: 15822 ground actions and 337 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.21 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 274 MB)
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Horizon 0: 337 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 81132 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 161927 variables
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Allocated 32 MB (total 556 MB)
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10 UNSAT (13 decisions 10 conflicts)
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Horizon 15: 242722 variables
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Horizon 20: 323517 variables
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Horizon 25: 404312 variables
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Allocated 32 MB permanent (total 979 MB)
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Horizon 30: 485107 variables
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Horizon 35: 565902 variables
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Allocated 32 MB permanent (total 1236 MB)
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Horizon 40: 646697 variables
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Horizon 45: 727492 variables
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SAT (79 decisions 32 conflicts)
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PLAN FOUND: 45 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2: base-right(pr2,x1,x2,y0)
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STEP 3: base-down(pr2,x2,y0,y1)
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STEP 4: base-right(pr2,x2,x3,y1)
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STEP 5: base-right(pr2,x3,x4,y1)
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STEP 6.0: base-down(pr2,x4,y1,y2)
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STEP 6.1: park(pr2)
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STEP 7: gripper-down(pr2,x4,y2,xrel0,x4,yrel0,yrel1,y2,y3)
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STEP 8.0: get-right(pr2,x4,y2,xrel0,x4,yrel1,y3,object0,x5)
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STEP 8.1: gripper-up(pr2,x4,y2,xrel0,x4,yrel1,yrel0,y3,y2)
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STEP 9.0: put-down(pr2,x4,y2,xrel0,x4,yrel0,y2,object0,y3)
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STEP 9.1: unpark(pr2,xrel0,yrel0)
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STEP 10: base-down(pr2,x4,y2,y3) finish-object(object0,x4,y3)
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STEP 11.0: base-down(pr2,x4,y3,y4)
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STEP 11.1: park(pr2)
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STEP 12: get-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object1,x5)
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STEP 13: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
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STEP 14: put-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object1,x4)
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STEP 15: finish-object(object1,x4,y4) get-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object3,x4)
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STEP 16: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
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STEP 17: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
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STEP 18: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
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STEP 19.0: put-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object3,x5)
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STEP 19.1: unpark(pr2,xrel0,yrel0)
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STEP 20: base-up(pr2,x4,y4,y3) finish-object(object3,x5,y4)
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STEP 21: base-up(pr2,x4,y3,y2)
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STEP 22.0: base-up(pr2,x4,y2,y1)
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STEP 22.1: park(pr2)
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STEP 23: gripper-left(pr2,x4,y1,xrel0,xrel-1,x4,x3,yrel0,y1)
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STEP 24: gripper-right(pr2,x4,y1,xrel-1,xrel0,x3,x4,yrel0,y1)
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STEP 25: unpark(pr2,xrel0,yrel0)
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STEP 26: base-left(pr2,x4,x3,y1)
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STEP 27: base-left(pr2,x3,x2,y1)
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STEP 28: base-down(pr2,x2,y1,y2)
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STEP 29: base-left(pr2,x2,x1,y2)
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STEP 30: base-down(pr2,x1,y2,y3)
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STEP 31: base-down(pr2,x1,y3,y4)
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STEP 32: base-up(pr2,x1,y4,y3)
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STEP 33.0: base-down(pr2,x1,y3,y4)
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STEP 33.1: park(pr2)
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STEP 34: gripper-down(pr2,x1,y4,xrel0,x1,yrel0,yrel1,y4,y5)
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STEP 35.0: get-down(pr2,x1,y4,xrel0,x1,yrel1,y5,object2,y6)
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STEP 35.1: gripper-right(pr2,x1,y4,xrel0,xrel1,x1,x2,yrel1,y5)
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STEP 36: put-left(pr2,x1,y4,xrel1,x2,yrel1,y5,object2,x1)
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STEP 37: finish-object(object2,x1,y5)
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49 actions in the plan.
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total time 7.52 preprocess 5.13
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total size 1.544 GB
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max. learned clause length 41545
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t val conflicts decisions
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0 0 0 0
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5 0 0 0
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10 0 10 13
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15 -1 421 496
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20 -1 361 582
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25 -1 300 494
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30 -1 242 338
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35 -1 180 278
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40 -1 120 199
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45 1 32 79
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