149 lines
5.9 KiB
Plaintext
149 lines
5.9 KiB
Plaintext
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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-17.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 105 -T 105
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Domain: tidybot
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Problem: test
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Parser: 75679 ground actions and 1103 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 8.18 secs
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Goal: conjunctive
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Simplified: 35109 ground actions and 505 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 11.36 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 541 MB)
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Allocated 32 MB permanent (total 877 MB)
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Allocated 32 MB permanent (total 909 MB)
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Horizon 105: 3739975 variables
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Allocated 32 MB (total 949 MB)
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SAT (0 ID 1489 decisions 757 conflicts 3739975 variables)
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PLAN FOUND: 105 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
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STEP 2.0: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 2.1: ungrasp-cart(pr2,cart)
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STEP 3.0: base-right(pr2,x1,x2,y0)
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STEP 3.1: park(pr2)
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STEP 4: gripper-left(pr2,x2,y0,xrel0,xrel-1,x2,x1,yrel0,y0)
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STEP 5: gripper-right(pr2,x2,y0,xrel-1,xrel0,x1,x2,yrel0,y0)
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STEP 6: unpark(pr2,xrel0,yrel0)
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STEP 7: base-down(pr2,x2,y0,y1)
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STEP 8: base-right(pr2,x2,x3,y1)
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STEP 9: base-down(pr2,x3,y1,y2)
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STEP 10: base-down(pr2,x3,y2,y3)
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STEP 11: base-down(pr2,x3,y3,y4)
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STEP 12: base-down(pr2,x3,y4,y5)
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STEP 13.0: base-left(pr2,x3,x2,y5)
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STEP 13.1: park(pr2)
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STEP 14.0: get-down(pr2,x2,y5,xrel0,x2,yrel0,y5,object3,y6)
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STEP 14.1: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
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STEP 15: gripper-down(pr2,x2,y5,xrel1,x3,yrel0,yrel1,y5,y6)
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STEP 16: gripper-up(pr2,x2,y5,xrel1,x3,yrel1,yrel0,y6,y5)
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STEP 17.0: put-down(pr2,x2,y5,xrel1,x3,yrel0,y5,object3,y6)
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STEP 17.1: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
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STEP 18: unpark(pr2,xrel0,yrel0)
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STEP 19: base-left(pr2,x2,x1,y5)
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STEP 20.0: base-down(pr2,x1,y5,y6)
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STEP 20.1: park(pr2)
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STEP 21: gripper-up(pr2,x1,y6,xrel0,x1,yrel0,yrel-1,y6,y5)
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STEP 22: gripper-down(pr2,x1,y6,xrel0,x1,yrel-1,yrel0,y5,y6)
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STEP 23: gripper-down(pr2,x1,y6,xrel0,x1,yrel0,yrel1,y6,y7)
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STEP 24.0: get-down(pr2,x1,y6,xrel0,x1,yrel1,y7,object0,y8)
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STEP 24.1: gripper-up(pr2,x1,y6,xrel0,x1,yrel1,yrel0,y7,y6)
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STEP 25.0: put-right(pr2,x1,y6,xrel0,x1,yrel0,y6,object0,x2)
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STEP 25.1: gripper-up(pr2,x1,y6,xrel0,x1,yrel0,yrel-1,y6,y5)
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STEP 26: finish-object(object0,x2,y6) gripper-down(pr2,x1,y6,xrel0,x1,yrel-1,yrel0,y5,y6)
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STEP 27: unpark(pr2,xrel0,yrel0)
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STEP 28: base-up(pr2,x1,y6,y5)
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STEP 29: base-right(pr2,x1,x2,y5)
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STEP 30: base-right(pr2,x2,x3,y5)
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STEP 31: base-right(pr2,x3,x4,y5)
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STEP 32.0: base-right(pr2,x4,x5,y5)
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STEP 32.1: park(pr2)
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STEP 33: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5)
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STEP 34: gripper-up(pr2,x5,y5,xrel1,x6,yrel0,yrel-1,y5,y4)
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STEP 35.0: get-up(pr2,x5,y5,xrel1,x6,yrel-1,y4,object1,y3)
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STEP 35.1: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel-1,y4)
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STEP 36.0: put-up(pr2,x5,y5,xrel0,x5,yrel-1,y4,object1,y3)
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STEP 36.1: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
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STEP 37: finish-object(object1,x5,y3) gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5)
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STEP 38: gripper-up(pr2,x5,y5,xrel1,x6,yrel0,yrel-1,y5,y4)
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STEP 39: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel-1,y4)
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STEP 40: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
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STEP 41: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
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STEP 42: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
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STEP 43: unpark(pr2,xrel0,yrel0)
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STEP 44: base-up(pr2,x5,y5,y4)
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STEP 45.0: base-up(pr2,x5,y4,y3)
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STEP 45.1: park(pr2)
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STEP 46: gripper-down(pr2,x5,y3,xrel0,x5,yrel0,yrel1,y3,y4)
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STEP 47: gripper-up(pr2,x5,y3,xrel0,x5,yrel1,yrel0,y4,y3)
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STEP 48: unpark(pr2,xrel0,yrel0)
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STEP 49: base-down(pr2,x5,y3,y4)
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STEP 50: base-down(pr2,x5,y4,y5)
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STEP 51.0: base-left(pr2,x5,x4,y5)
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STEP 51.1: park(pr2)
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STEP 52: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
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STEP 53.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3)
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STEP 53.1: gripper-up(pr2,x4,y5,xrel0,x4,yrel1,yrel0,y6,y5)
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STEP 54: unpark(pr2,xrel0,yrel0)
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STEP 55.0: base-down(pr2,x4,y5,y6)
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STEP 55.1: park(pr2)
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STEP 56: gripper-right(pr2,x4,y6,xrel0,xrel1,x4,x5,yrel0,y6)
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STEP 57: gripper-left(pr2,x4,y6,xrel1,xrel0,x5,x4,yrel0,y6)
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STEP 58: unpark(pr2,xrel0,yrel0)
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STEP 59: base-up(pr2,x4,y6,y5)
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STEP 60: base-right(pr2,x4,x5,y5)
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STEP 61.0: base-up(pr2,x5,y5,y4)
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STEP 61.1: park(pr2)
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STEP 62: gripper-right(pr2,x5,y4,xrel0,xrel1,x5,x6,yrel0,y4)
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STEP 63.0: put-up(pr2,x5,y4,xrel1,x6,yrel0,y4,object3,y3)
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STEP 63.1: gripper-left(pr2,x5,y4,xrel1,xrel0,x6,x5,yrel0,y4)
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STEP 64: finish-object(object3,x6,y3) unpark(pr2,xrel0,yrel0)
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STEP 65: base-right(pr2,x5,x6,y4)
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STEP 66: base-up(pr2,x6,y4,y3)
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STEP 67: base-down(pr2,x6,y3,y4)
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STEP 68: base-left(pr2,x6,x5,y4)
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STEP 69: base-down(pr2,x5,y4,y5)
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STEP 70: base-left(pr2,x5,x4,y5)
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STEP 71: base-left(pr2,x4,x3,y5)
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STEP 72: base-left(pr2,x3,x2,y5)
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STEP 73.0: base-left(pr2,x2,x1,y5)
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STEP 73.1: park(pr2)
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STEP 74.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
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STEP 74.1: gripper-left(pr2,x1,y5,xrel0,xrel-1,x1,x0,yrel0,y5)
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STEP 75: gripper-down(pr2,x1,y5,xrel-1,x0,yrel0,yrel1,y5,y6)
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STEP 76: gripper-up(pr2,x1,y5,xrel-1,x0,yrel1,yrel0,y6,y5)
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STEP 77: gripper-right(pr2,x1,y5,xrel-1,xrel0,x0,x1,yrel0,y5)
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STEP 78: unpark(pr2,xrel0,yrel0)
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STEP 79.0: base-down(pr2,x1,y5,y6)
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STEP 79.1: park(pr2)
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STEP 80: gripper-down(pr2,x1,y6,xrel0,x1,yrel0,yrel1,y6,y7)
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STEP 81: put-down(pr2,x1,y6,xrel0,x1,yrel1,y7,object2,y8)
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STEP 82: finish-object(object2,x1,y8)
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106 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: 27.65 # [s]
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preprocessing: 20.84 # [s]
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maxLearnedClauseLength: 24952
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groundActions:
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afterParsing: 75679
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afterPreprocessing: 35109
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stateVariables:
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afterParsing: 1103
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afterPreprocessing: 505
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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: 105
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actions: 106
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iterations:
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...
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