154 lines
4.6 KiB
Plaintext
154 lines
4.6 KiB
Plaintext
Madagascar 0.99999 31/01/2018 20:14:07 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-7.pddlignoring --stats
|
|
ignoring --stats-iter
|
|
ignoring --verbose
|
|
-m 8192
|
|
Domain: tidybot
|
|
Problem: test
|
|
Parser: 38083 ground actions and 761 state variables
|
|
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 2.64 secs
|
|
Goal: conjunctive
|
|
Simplified: 15822 ground actions and 337 state variables
|
|
Actions: STRIPS
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.22 secs (max SCC size 10)
|
|
Plan type: E-step
|
|
Allocated 32 MB permanent (total 274 MB)
|
|
Horizon 0: 337 variables
|
|
0 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 5: 81132 variables
|
|
5 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 10: 161927 variables
|
|
Allocated 32 MB (total 556 MB)
|
|
10 UNSAT (13 decisions 10 conflicts)
|
|
Horizon 15: 242722 variables
|
|
Horizon 20: 323517 variables
|
|
Horizon 25: 404312 variables
|
|
Allocated 32 MB permanent (total 979 MB)
|
|
Horizon 30: 485107 variables
|
|
Horizon 35: 565902 variables
|
|
Allocated 32 MB permanent (total 1236 MB)
|
|
Horizon 40: 646697 variables
|
|
Horizon 45: 727492 variables
|
|
SAT (9 ID 79 decisions 32 conflicts 727492 variables)
|
|
PLAN FOUND: 45 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-down(pr2,x2,y0,y1)
|
|
STEP 4: base-right(pr2,x2,x3,y1)
|
|
STEP 5: base-right(pr2,x3,x4,y1)
|
|
STEP 6.0: base-down(pr2,x4,y1,y2)
|
|
STEP 6.1: park(pr2)
|
|
STEP 7: gripper-down(pr2,x4,y2,xrel0,x4,yrel0,yrel1,y2,y3)
|
|
STEP 8.0: get-right(pr2,x4,y2,xrel0,x4,yrel1,y3,object0,x5)
|
|
STEP 8.1: gripper-up(pr2,x4,y2,xrel0,x4,yrel1,yrel0,y3,y2)
|
|
STEP 9.0: put-down(pr2,x4,y2,xrel0,x4,yrel0,y2,object0,y3)
|
|
STEP 9.1: unpark(pr2,xrel0,yrel0)
|
|
STEP 10: base-down(pr2,x4,y2,y3) finish-object(object0,x4,y3)
|
|
STEP 11.0: base-down(pr2,x4,y3,y4)
|
|
STEP 11.1: park(pr2)
|
|
STEP 12: get-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object1,x5)
|
|
STEP 13: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
|
|
STEP 14: put-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object1,x4)
|
|
STEP 15: finish-object(object1,x4,y4) get-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object3,x4)
|
|
STEP 16: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
|
|
STEP 17: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
|
|
STEP 18: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
|
|
STEP 19.0: put-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object3,x5)
|
|
STEP 19.1: unpark(pr2,xrel0,yrel0)
|
|
STEP 20: base-up(pr2,x4,y4,y3) finish-object(object3,x5,y4)
|
|
STEP 21: base-up(pr2,x4,y3,y2)
|
|
STEP 22.0: base-up(pr2,x4,y2,y1)
|
|
STEP 22.1: park(pr2)
|
|
STEP 23: gripper-left(pr2,x4,y1,xrel0,xrel-1,x4,x3,yrel0,y1)
|
|
STEP 24: gripper-right(pr2,x4,y1,xrel-1,xrel0,x3,x4,yrel0,y1)
|
|
STEP 25: unpark(pr2,xrel0,yrel0)
|
|
STEP 26: base-left(pr2,x4,x3,y1)
|
|
STEP 27: base-left(pr2,x3,x2,y1)
|
|
STEP 28: base-down(pr2,x2,y1,y2)
|
|
STEP 29: base-left(pr2,x2,x1,y2)
|
|
STEP 30: base-down(pr2,x1,y2,y3)
|
|
STEP 31: base-down(pr2,x1,y3,y4)
|
|
STEP 32: base-up(pr2,x1,y4,y3)
|
|
STEP 33.0: base-down(pr2,x1,y3,y4)
|
|
STEP 33.1: park(pr2)
|
|
STEP 34: gripper-down(pr2,x1,y4,xrel0,x1,yrel0,yrel1,y4,y5)
|
|
STEP 35.0: get-down(pr2,x1,y4,xrel0,x1,yrel1,y5,object2,y6)
|
|
STEP 35.1: gripper-right(pr2,x1,y4,xrel0,xrel1,x1,x2,yrel1,y5)
|
|
STEP 36: put-left(pr2,x1,y4,xrel1,x2,yrel1,y5,object2,x1)
|
|
STEP 37: finish-object(object2,x1,y5)
|
|
49 actions in the plan.
|
|
|
|
|
|
# statistics in YAML format
|
|
---
|
|
runtime:
|
|
total: 7.82 # [s]
|
|
preprocessing: 5.36 # [s]
|
|
maxLearnedClauseLength: 41545
|
|
groundActions:
|
|
afterParsing: 38083
|
|
afterPreprocessing: 15822
|
|
stateVariables:
|
|
afterParsing: 761
|
|
afterPreprocessing: 337
|
|
stronglyConnectedComponents:
|
|
maxSize: 10
|
|
plan:
|
|
found: true
|
|
length: 45
|
|
actions: 49
|
|
iterations:
|
|
- horizon: 0
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 337
|
|
- horizon: 5
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 81132
|
|
- horizon: 10
|
|
result: unsatisfiable
|
|
conflicts: 10
|
|
decisions: 13
|
|
variables: 161927
|
|
- horizon: 15
|
|
result: unknown
|
|
conflicts: 421
|
|
decisions: 496
|
|
variables: 242722
|
|
- horizon: 20
|
|
result: unknown
|
|
conflicts: 361
|
|
decisions: 582
|
|
variables: 323517
|
|
- horizon: 25
|
|
result: unknown
|
|
conflicts: 300
|
|
decisions: 494
|
|
variables: 404312
|
|
- horizon: 30
|
|
result: unknown
|
|
conflicts: 242
|
|
decisions: 338
|
|
variables: 485107
|
|
- horizon: 35
|
|
result: unknown
|
|
conflicts: 180
|
|
decisions: 278
|
|
variables: 565902
|
|
- horizon: 40
|
|
result: unknown
|
|
conflicts: 120
|
|
decisions: 199
|
|
variables: 646697
|
|
- horizon: 45
|
|
result: satisfiable
|
|
conflicts: 32
|
|
decisions: 79
|
|
variables: 727492
|
|
...
|
|
|