110 lines
3.8 KiB
Plaintext
110 lines
3.8 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-2.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: 38489 ground actions and 762 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 1.97 secs
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Goal: conjunctive
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Simplified: 14145 ground actions and 342 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.94 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 255 MB)
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Horizon 45: 652257 variables
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Allocated 32 MB (total 408 MB)
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Allocated 32 MB (total 440 MB)
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Allocated 32 MB (total 472 MB)
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Allocated 32 MB (total 504 MB)
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Allocated 32 MB (total 536 MB)
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Allocated 32 MB (total 568 MB)
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Allocated 32 MB (total 600 MB)
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Allocated 32 MB (total 632 MB)
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Allocated 32 MB (total 664 MB)
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Allocated 32 MB (total 696 MB)
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SAT (0 ID 15987 decisions 11365 conflicts 652257 variables)
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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-right(pr2,x2,x3,y0)
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STEP 4: base-right(pr2,x3,x4,y0)
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STEP 5: base-down(pr2,x4,y0,y1)
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STEP 6: base-down(pr2,x4,y1,y2)
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STEP 7: base-right(pr2,x4,x5,y2)
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STEP 8: base-right(pr2,x5,x6,y2)
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STEP 9: base-right(pr2,x6,x7,y2)
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STEP 10: base-down(pr2,x7,y2,y3)
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STEP 11: base-down(pr2,x7,y3,y4)
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STEP 12: base-left(pr2,x7,x6,y4)
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STEP 13.0: base-left(pr2,x6,x5,y4)
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STEP 13.1: park(pr2)
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STEP 14: gripper-left(pr2,x5,y4,xrel0,xrel-1,x5,x4,yrel0,y4)
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STEP 15.0: get-down(pr2,x5,y4,xrel-1,x4,yrel0,y4,object0,y5)
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STEP 15.1: gripper-right(pr2,x5,y4,xrel-1,xrel0,x4,x5,yrel0,y4)
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STEP 16: put-left(pr2,x5,y4,xrel0,x5,yrel0,y4,object0,x4)
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STEP 17.0: finish-object(object0,x4,y4) get-down(pr2,x5,y4,xrel0,x5,yrel0,y4,object1,y5)
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STEP 17.1: unpark(pr2,xrel0,yrel0)
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STEP 18.0: base-down(pr2,x5,y4,y5)
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STEP 18.1: park(pr2)
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STEP 19.0: put-left(pr2,x5,y5,xrel0,x5,yrel0,y5,object1,x4)
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STEP 19.1: unpark(pr2,xrel0,yrel0)
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STEP 20: base-right(pr2,x5,x6,y5) finish-object(object1,x4,y5)
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STEP 21.0: base-up(pr2,x6,y5,y4)
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STEP 21.1: park(pr2)
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STEP 22.0: get-left(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,x5)
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STEP 22.1: unpark(pr2,xrel0,yrel0)
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STEP 23: base-right(pr2,x6,x7,y4)
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STEP 24: base-up(pr2,x7,y4,y3)
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STEP 25: base-up(pr2,x7,y3,y2)
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STEP 26: base-left(pr2,x7,x6,y2)
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STEP 27.0: base-left(pr2,x6,x5,y2)
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STEP 27.1: park(pr2)
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STEP 28.0: put-up(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y1)
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STEP 28.1: unpark(pr2,xrel0,yrel0)
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STEP 29: base-left(pr2,x5,x4,y2) finish-object(object3,x5,y1)
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STEP 30.0: base-left(pr2,x4,x3,y2)
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STEP 30.1: park(pr2)
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STEP 31: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
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STEP 32: gripper-down(pr2,x3,y2,xrel-1,x2,yrel0,yrel1,y2,y3)
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STEP 33.0: get-left(pr2,x3,y2,xrel-1,x2,yrel1,y3,object2,x1)
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STEP 33.1: gripper-up(pr2,x3,y2,xrel-1,x2,yrel1,yrel0,y3,y2)
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STEP 34: gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
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STEP 35: unpark(pr2,xrel0,yrel0)
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STEP 36: base-right(pr2,x3,x4,y2)
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STEP 37: base-right(pr2,x4,x5,y2)
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STEP 38: base-right(pr2,x5,x6,y2)
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STEP 39: base-right(pr2,x6,x7,y2)
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STEP 40: base-down(pr2,x7,y2,y3)
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STEP 41: base-down(pr2,x7,y3,y4)
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STEP 42.0: base-left(pr2,x7,x6,y4)
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STEP 42.1: park(pr2)
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STEP 43: put-left(pr2,x6,y4,xrel0,x6,yrel0,y4,object2,x5)
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STEP 44: finish-object(object2,x5,y4)
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60 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: 30.16 # [s]
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preprocessing: 4.33 # [s]
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maxLearnedClauseLength: 173141
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groundActions:
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afterParsing: 38489
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afterPreprocessing: 14145
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stateVariables:
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afterParsing: 762
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afterPreprocessing: 342
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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: 60
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iterations:
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...
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