96 lines
3.3 KiB
Plaintext
96 lines
3.3 KiB
Plaintext
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-14.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 45 -T 45
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Domain: tidybot
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Problem: test
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Parser: 54770 ground actions and 925 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 5.54 secs
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Goal: conjunctive
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Simplified: 22161 ground actions and 418 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.70 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 355 MB)
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Horizon 45: 1016473 variables
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Allocated 32 MB (total 532 MB)
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SAT (0 ID 1784 decisions 1151 conflicts 1016473 variables)
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PLAN FOUND: 45 steps
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STEP 0: finish-object(object0,x2,y2) 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-right(pr2,x2,x3,y0)
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STEP 4: base-right(pr2,x3,x4,y0)
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STEP 5: base-right(pr2,x4,x5,y0)
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STEP 6: base-down(pr2,x5,y0,y1)
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STEP 7: base-down(pr2,x5,y1,y2)
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STEP 8: base-down(pr2,x5,y2,y3)
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STEP 9: base-down(pr2,x5,y3,y4)
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STEP 10.0: base-down(pr2,x5,y4,y5)
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STEP 10.1: park(pr2)
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STEP 11: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
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STEP 12.0: get-down(pr2,x5,y5,xrel0,x5,yrel1,y6,object1,y7)
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STEP 12.1: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
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STEP 13: unpark(pr2,xrel0,yrel0)
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STEP 14: base-up(pr2,x5,y5,y4)
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STEP 15: base-up(pr2,x5,y4,y3)
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STEP 16: base-up(pr2,x5,y3,y2)
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STEP 17.0: base-right(pr2,x5,x6,y2)
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STEP 17.1: park(pr2)
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STEP 18: gripper-right(pr2,x6,y2,xrel0,xrel1,x6,x7,yrel0,y2)
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STEP 19.0: put-up(pr2,x6,y2,xrel1,x7,yrel0,y2,object1,y1)
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STEP 19.1: gripper-left(pr2,x6,y2,xrel1,xrel0,x7,x6,yrel0,y2)
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STEP 20.0: finish-object(object1,x7,y1) get-up(pr2,x6,y2,xrel0,x6,yrel0,y2,object3,y1)
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STEP 20.1: unpark(pr2,xrel0,yrel0)
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STEP 21: base-down(pr2,x6,y2,y3)
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STEP 22: base-down(pr2,x6,y3,y4)
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STEP 23: base-down(pr2,x6,y4,y5)
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STEP 24: base-left(pr2,x6,x5,y5)
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STEP 25: base-left(pr2,x5,x4,y5)
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STEP 26: base-left(pr2,x4,x3,y5)
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STEP 27: base-left(pr2,x3,x2,y5)
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STEP 28: base-left(pr2,x2,x1,y5)
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STEP 29: base-left(pr2,x1,x0,y5)
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STEP 30: base-up(pr2,x0,y5,y4)
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STEP 31: base-up(pr2,x0,y4,y3)
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STEP 32: base-right(pr2,x0,x1,y3)
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STEP 33: base-right(pr2,x1,x2,y3)
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STEP 34.0: base-up(pr2,x2,y3,y2)
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STEP 34.1: park(pr2)
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STEP 35: put-right(pr2,x2,y2,xrel0,x2,yrel0,y2,object3,x3)
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STEP 36.0: get-down(pr2,x2,y2,xrel0,x2,yrel0,y2,object2,y3)
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STEP 36.1: unpark(pr2,xrel0,yrel0)
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STEP 37.0: base-right(pr2,x2,x3,y2)
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STEP 37.1: park(pr2)
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STEP 38: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
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STEP 39: put-up(pr2,x3,y2,xrel0,x3,yrel1,y3,object2,y2)
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STEP 40.0: finish-object(object2,x3,y2) get-up(pr2,x3,y2,xrel0,x3,yrel1,y3,object3,y2)
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STEP 40.1: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel1,y3)
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STEP 41: put-right(pr2,x3,y2,xrel-1,x2,yrel1,y3,object3,x3)
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STEP 42: finish-object(object3,x3,y3)
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55 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: 15.08 # [s]
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preprocessing: 10.96 # [s]
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maxLearnedClauseLength: 185145
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groundActions:
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afterParsing: 54770
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afterPreprocessing: 22161
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stateVariables:
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afterParsing: 925
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afterPreprocessing: 418
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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: 45
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actions: 55
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iterations:
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...
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