73 lines
2.6 KiB
Plaintext
73 lines
2.6 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-3.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 35 -T 35
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Domain: tidybot
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Problem: test
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Parser: 38082 ground actions and 760 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2.26 secs
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Goal: conjunctive
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Simplified: 15807 ground actions and 337 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.34 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 274 MB)
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Horizon 35: 565377 variables
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Allocated 32 MB (total 422 MB)
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SAT (0 ID 57 decisions 6 conflicts 565377 variables)
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PLAN FOUND: 35 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-down(pr2,x2,y0,y1)
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STEP 4: base-down(pr2,x2,y1,y2)
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STEP 5: base-right(pr2,x2,x3,y2)
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STEP 6.0: base-down(pr2,x3,y2,y3)
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STEP 6.1: park(pr2)
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STEP 7: gripper-up(pr2,x3,y3,xrel0,x3,yrel0,yrel-1,y3,y2)
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STEP 8.0: get-up(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,y1)
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STEP 8.1: gripper-down(pr2,x3,y3,xrel0,x3,yrel-1,yrel0,y2,y3)
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STEP 9: unpark(pr2,xrel0,yrel0)
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STEP 10.0: base-down(pr2,x3,y3,y4)
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STEP 10.1: park(pr2)
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STEP 11: gripper-down(pr2,x3,y4,xrel0,x3,yrel0,yrel1,y4,y5)
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STEP 12: put-up(pr2,x3,y4,xrel0,x3,yrel1,y5,object0,y4)
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STEP 13: finish-object(object0,x3,y4) get-up(pr2,x3,y4,xrel0,x3,yrel1,y5,object1,y4)
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STEP 14: gripper-up(pr2,x3,y4,xrel0,x3,yrel1,yrel0,y5,y4)
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STEP 15.0: put-down(pr2,x3,y4,xrel0,x3,yrel0,y4,object1,y5)
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STEP 15.1: unpark(pr2,xrel0,yrel0)
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STEP 16.0: base-right(pr2,x3,x4,y4) finish-object(object1,x3,y5)
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STEP 16.1: park(pr2)
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STEP 17.0: get-down(pr2,x4,y4,xrel0,x4,yrel0,y4,object2,y5)
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STEP 17.1: gripper-up(pr2,x4,y4,xrel0,x4,yrel0,yrel-1,y4,y3)
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STEP 18: put-down(pr2,x4,y4,xrel0,x4,yrel-1,y3,object2,y4)
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STEP 19: finish-object(object2,x4,y4) get-down(pr2,x4,y4,xrel0,x4,yrel-1,y3,object3,y4)
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STEP 20: gripper-down(pr2,x4,y4,xrel0,x4,yrel-1,yrel0,y3,y4)
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STEP 21: put-down(pr2,x4,y4,xrel0,x4,yrel0,y4,object3,y5)
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STEP 22: finish-object(object3,x4,y5)
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32 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: 5.91 # [s]
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preprocessing: 5.08 # [s]
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maxLearnedClauseLength: 857
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groundActions:
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afterParsing: 38082
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afterPreprocessing: 15807
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stateVariables:
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afterParsing: 760
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afterPreprocessing: 337
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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: 35
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actions: 32
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iterations:
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...
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