136 lines
4.9 KiB
Plaintext
136 lines
4.9 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-18.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 90 -T 90
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Domain: tidybot
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Problem: test
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Parser: 75377 ground actions and 1099 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 9.05 secs
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Goal: conjunctive
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Simplified: 36707 ground actions and 503 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 12.42 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 565 MB)
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Allocated 32 MB permanent (total 879 MB)
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Allocated 32 MB permanent (total 911 MB)
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Horizon 90: 3349403 variables
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Allocated 32 MB (total 951 MB)
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SAT (0 ID 6964 decisions 3682 conflicts 3349403 variables)
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PLAN FOUND: 90 steps
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STEP 0: finish-object(object0,x1,y2) unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2: base-down(pr2,x1,y0,y1)
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STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
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STEP 4.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
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STEP 4.1: ungrasp-cart(pr2,cart)
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STEP 5.0: base-right(pr2,x1,x2,y0)
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STEP 5.1: park(pr2)
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STEP 6: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel0,y0)
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STEP 7: gripper-down(pr2,x2,y0,xrel1,x3,yrel0,yrel1,y0,y1)
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STEP 8: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0)
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STEP 9: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
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STEP 10: unpark(pr2,xrel0,yrel0)
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STEP 11: base-right(pr2,x2,x3,y0)
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STEP 12: base-down(pr2,x3,y0,y1)
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STEP 13: base-down(pr2,x3,y1,y2)
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STEP 14: base-down(pr2,x3,y2,y3)
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STEP 15: base-down(pr2,x3,y3,y4)
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STEP 16.0: base-down(pr2,x3,y4,y5)
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STEP 16.1: park(pr2)
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STEP 17.0: get-down(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y6)
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STEP 17.1: unpark(pr2,xrel0,yrel0)
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STEP 18: base-up(pr2,x3,y5,y4)
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STEP 19: base-up(pr2,x3,y4,y3)
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STEP 20: base-up(pr2,x3,y3,y2)
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STEP 21: base-right(pr2,x3,x4,y2)
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STEP 22: base-right(pr2,x4,x5,y2)
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STEP 23: base-right(pr2,x5,x6,y2)
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STEP 24: base-down(pr2,x6,y2,y3)
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STEP 25.0: base-down(pr2,x6,y3,y4)
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STEP 25.1: park(pr2)
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STEP 26.0: put-down(pr2,x6,y4,xrel0,x6,yrel0,y4,object1,y5)
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STEP 26.1: unpark(pr2,xrel0,yrel0)
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STEP 27: base-up(pr2,x6,y4,y3) finish-object(object1,x6,y5)
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STEP 28: base-up(pr2,x6,y3,y2)
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STEP 29: base-left(pr2,x6,x5,y2)
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STEP 30: base-left(pr2,x5,x4,y2)
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STEP 31: base-right(pr2,x4,x5,y2)
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STEP 32.0: base-left(pr2,x5,x4,y2)
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STEP 32.1: park(pr2)
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STEP 33: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2)
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STEP 34.0: get-left(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,x2)
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STEP 34.1: gripper-right(pr2,x4,y2,xrel-1,xrel0,x3,x4,yrel0,y2)
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STEP 35: unpark(pr2,xrel0,yrel0)
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STEP 36.0: base-left(pr2,x4,x3,y2)
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STEP 36.1: park(pr2)
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STEP 37: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
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STEP 38: gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
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STEP 39: unpark(pr2,xrel0,yrel0)
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STEP 40: base-right(pr2,x3,x4,y2)
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STEP 41: base-right(pr2,x4,x5,y2)
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STEP 42: base-right(pr2,x5,x6,y2)
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STEP 43.0: base-right(pr2,x6,x7,y2)
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STEP 43.1: park(pr2)
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STEP 44: gripper-down(pr2,x7,y2,xrel0,x7,yrel0,yrel1,y2,y3)
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STEP 45.0: put-down(pr2,x7,y2,xrel0,x7,yrel1,y3,object2,y4)
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STEP 45.1: gripper-up(pr2,x7,y2,xrel0,x7,yrel1,yrel0,y3,y2)
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STEP 46: finish-object(object2,x7,y4) unpark(pr2,xrel0,yrel0)
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STEP 47: base-left(pr2,x7,x6,y2)
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STEP 48: base-left(pr2,x6,x5,y2)
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STEP 49: base-left(pr2,x5,x4,y2)
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STEP 50.0: base-down(pr2,x4,y2,y3)
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STEP 50.1: park(pr2)
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STEP 51: gripper-left(pr2,x4,y3,xrel0,xrel-1,x4,x3,yrel0,y3)
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STEP 52: gripper-right(pr2,x4,y3,xrel-1,xrel0,x3,x4,yrel0,y3)
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STEP 53: unpark(pr2,xrel0,yrel0)
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STEP 54: base-down(pr2,x4,y3,y4)
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STEP 55: base-down(pr2,x4,y4,y5)
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STEP 56.0: base-left(pr2,x4,x3,y5)
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STEP 56.1: park(pr2)
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STEP 57: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
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STEP 58.0: get-left(pr2,x3,y5,xrel0,x3,yrel1,y6,object3,x2)
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STEP 58.1: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
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STEP 59: unpark(pr2,xrel0,yrel0)
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STEP 60: base-up(pr2,x3,y5,y4)
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STEP 61: base-up(pr2,x3,y4,y3)
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STEP 62: base-up(pr2,x3,y3,y2)
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STEP 63: base-right(pr2,x3,x4,y2)
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STEP 64: base-right(pr2,x4,x5,y2)
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STEP 65: base-right(pr2,x5,x6,y2)
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STEP 66.0: base-down(pr2,x6,y2,y3)
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STEP 66.1: park(pr2)
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STEP 67: gripper-down(pr2,x6,y3,xrel0,x6,yrel0,yrel1,y3,y4)
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STEP 68: gripper-up(pr2,x6,y3,xrel0,x6,yrel1,yrel0,y4,y3)
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STEP 69: unpark(pr2,xrel0,yrel0)
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STEP 70: base-down(pr2,x6,y3,y4)
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STEP 71.0: base-right(pr2,x6,x7,y4)
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STEP 71.1: park(pr2)
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STEP 72: put-down(pr2,x7,y4,xrel0,x7,yrel0,y4,object3,y5)
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STEP 73: finish-object(object3,x7,y5)
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93 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: 48.20 # [s]
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preprocessing: 22.87 # [s]
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maxLearnedClauseLength: 85295
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groundActions:
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afterParsing: 75377
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afterPreprocessing: 36707
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stateVariables:
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afterParsing: 1099
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afterPreprocessing: 503
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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: 90
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actions: 93
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iterations:
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...
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