165 lines
6.0 KiB
Plaintext
165 lines
6.0 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-6.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 115 -T 115
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Domain: tidybot
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Problem: test
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Parser: 38501 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 2.29 secs
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Goal: conjunctive
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Simplified: 13826 ground actions and 340 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.89 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 251 MB)
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Allocated 32 MB permanent (total 459 MB)
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Horizon 115: 1629430 variables
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Allocated 32 MB (total 494 MB)
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Allocated 32 MB (total 526 MB)
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Allocated 32 MB (total 558 MB)
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Allocated 32 MB (total 590 MB)
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Allocated 32 MB (total 622 MB)
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Allocated 32 MB (total 654 MB)
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Allocated 32 MB (total 686 MB)
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Allocated 32 MB (total 718 MB)
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Allocated 32 MB (total 750 MB)
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SAT (0 ID 10207 decisions 5449 conflicts 1629430 variables)
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PLAN FOUND: 115 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1.0: base-right(pr2,x0,x1,y0)
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STEP 1.1: park(pr2)
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STEP 2: gripper-right(pr2,x1,y0,xrel0,xrel1,x1,x2,yrel0,y0)
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STEP 3: gripper-left(pr2,x1,y0,xrel1,xrel0,x2,x1,yrel0,y0)
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STEP 4: unpark(pr2,xrel0,yrel0)
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STEP 5: base-right(pr2,x1,x2,y0)
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STEP 6: base-right(pr2,x2,x3,y0)
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STEP 7: base-right(pr2,x3,x4,y0)
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STEP 8: base-down(pr2,x4,y0,y1)
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STEP 9: base-down(pr2,x4,y1,y2)
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STEP 10.0: base-down(pr2,x4,y2,y3)
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STEP 10.1: park(pr2)
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STEP 11: get-right(pr2,x4,y3,xrel0,x4,yrel0,y3,object0,x5)
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STEP 12.0: put-up(pr2,x4,y3,xrel0,x4,yrel0,y3,object0,y2)
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STEP 12.1: unpark(pr2,xrel0,yrel0)
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STEP 13: base-up(pr2,x4,y3,y2) finish-object(object0,x4,y2)
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STEP 14: base-up(pr2,x4,y2,y1)
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STEP 15: base-up(pr2,x4,y1,y0)
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STEP 16: base-left(pr2,x4,x3,y0)
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STEP 17: base-left(pr2,x3,x2,y0)
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STEP 18: base-down(pr2,x2,y0,y1)
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STEP 19: base-down(pr2,x2,y1,y2)
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STEP 20: base-down(pr2,x2,y2,y3)
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STEP 21: base-up(pr2,x2,y3,y2)
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STEP 22: base-up(pr2,x2,y2,y1)
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STEP 23: base-up(pr2,x2,y1,y0)
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STEP 24: base-right(pr2,x2,x3,y0)
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STEP 25: base-right(pr2,x3,x4,y0)
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STEP 26: base-down(pr2,x4,y0,y1)
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STEP 27: base-up(pr2,x4,y1,y0)
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STEP 28: base-right(pr2,x4,x5,y0)
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STEP 29: base-right(pr2,x5,x6,y0)
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STEP 30: base-right(pr2,x6,x7,y0)
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STEP 31: base-down(pr2,x7,y0,y1)
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STEP 32: base-down(pr2,x7,y1,y2)
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STEP 33: base-down(pr2,x7,y2,y3)
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STEP 34: base-right(pr2,x7,x8,y3)
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STEP 35: base-down(pr2,x8,y3,y4)
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STEP 36: base-down(pr2,x8,y4,y5)
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STEP 37: base-left(pr2,x8,x7,y5)
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STEP 38: base-left(pr2,x7,x6,y5)
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STEP 39: base-left(pr2,x6,x5,y5)
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STEP 40.0: base-down(pr2,x5,y5,y6)
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STEP 40.1: park(pr2)
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STEP 41.0: get-right(pr2,x5,y6,xrel0,x5,yrel0,y6,object1,x6)
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STEP 41.1: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
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STEP 42: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
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STEP 43: unpark(pr2,xrel0,yrel0)
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STEP 44.0: base-left(pr2,x5,x4,y6)
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STEP 44.1: park(pr2)
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STEP 45: gripper-left(pr2,x4,y6,xrel0,xrel-1,x4,x3,yrel0,y6)
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STEP 46.0: put-left(pr2,x4,y6,xrel-1,x3,yrel0,y6,object1,x2)
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STEP 46.1: gripper-up(pr2,x4,y6,xrel-1,x3,yrel0,yrel-1,y6,y5)
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STEP 47: finish-object(object1,x2,y6) gripper-down(pr2,x4,y6,xrel-1,x3,yrel-1,yrel0,y5,y6)
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STEP 48: gripper-right(pr2,x4,y6,xrel-1,xrel0,x3,x4,yrel0,y6)
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STEP 49: unpark(pr2,xrel0,yrel0)
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STEP 50: base-left(pr2,x4,x3,y6)
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STEP 51.0: base-up(pr2,x3,y6,y5)
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STEP 51.1: park(pr2)
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STEP 52: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
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STEP 53: gripper-up(pr2,x3,y5,xrel-1,x2,yrel0,yrel-1,y5,y4)
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STEP 54.0: get-left(pr2,x3,y5,xrel-1,x2,yrel-1,y4,object2,x1)
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STEP 54.1: gripper-down(pr2,x3,y5,xrel-1,x2,yrel-1,yrel0,y4,y5)
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STEP 55: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel0,y5)
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STEP 56: unpark(pr2,xrel0,yrel0)
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STEP 57: base-left(pr2,x3,x2,y5)
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STEP 58: base-up(pr2,x2,y5,y4)
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STEP 59: base-up(pr2,x2,y4,y3)
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STEP 60: base-up(pr2,x2,y3,y2)
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STEP 61: base-up(pr2,x2,y2,y1)
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STEP 62.0: base-up(pr2,x2,y1,y0)
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STEP 62.1: park(pr2)
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STEP 63: unpark(pr2,xrel0,yrel0)
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STEP 64.0: base-right(pr2,x2,x3,y0)
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STEP 64.1: park(pr2)
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STEP 65: unpark(pr2,xrel0,yrel0)
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STEP 66.0: base-right(pr2,x3,x4,y0)
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STEP 66.1: park(pr2)
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STEP 67: gripper-right(pr2,x4,y0,xrel0,xrel1,x4,x5,yrel0,y0)
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STEP 68: gripper-down(pr2,x4,y0,xrel1,x5,yrel0,yrel1,y0,y1)
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STEP 69.0: put-down(pr2,x4,y0,xrel1,x5,yrel1,y1,object2,y2)
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STEP 69.1: gripper-left(pr2,x4,y0,xrel1,xrel0,x5,x4,yrel1,y1)
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STEP 70: finish-object(object2,x5,y2) gripper-up(pr2,x4,y0,xrel0,x4,yrel1,yrel0,y1,y0)
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STEP 71: unpark(pr2,xrel0,yrel0)
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STEP 72: base-left(pr2,x4,x3,y0)
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STEP 73: base-left(pr2,x3,x2,y0)
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STEP 74: base-down(pr2,x2,y0,y1)
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STEP 75: base-down(pr2,x2,y1,y2)
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STEP 76: base-down(pr2,x2,y2,y3)
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STEP 77.0: base-down(pr2,x2,y3,y4)
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STEP 77.1: park(pr2)
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STEP 78: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
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STEP 79: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel1,y5)
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STEP 80.0: get-down(pr2,x2,y4,xrel-1,x1,yrel1,y5,object3,y6)
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STEP 80.1: gripper-up(pr2,x2,y4,xrel-1,x1,yrel1,yrel0,y5,y4)
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STEP 81: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
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STEP 82: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
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STEP 83: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
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STEP 84: unpark(pr2,xrel0,yrel0)
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STEP 85: base-up(pr2,x2,y4,y3)
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STEP 86: base-up(pr2,x2,y3,y2)
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STEP 87: base-up(pr2,x2,y2,y1)
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STEP 88: base-up(pr2,x2,y1,y0)
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STEP 89: base-right(pr2,x2,x3,y0)
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STEP 90: base-right(pr2,x3,x4,y0)
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STEP 91: base-down(pr2,x4,y0,y1)
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STEP 92: base-down(pr2,x4,y1,y2)
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STEP 93.0: base-right(pr2,x4,x5,y2)
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STEP 93.1: park(pr2)
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STEP 94: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y3)
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STEP 95: finish-object(object3,x5,y3)
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115 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: 36.07 # [s]
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preprocessing: 4.60 # [s]
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maxLearnedClauseLength: 151488
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groundActions:
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afterParsing: 38501
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afterPreprocessing: 13826
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stateVariables:
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afterParsing: 762
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afterPreprocessing: 340
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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: 115
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actions: 115
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iterations:
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...
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