154 lines
4.6 KiB
Plaintext
154 lines
4.6 KiB
Plaintext
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Madagascar 0.99999 31/01/2018 20:14:07 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-7.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192
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Domain: tidybot
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Problem: test
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Parser: 38083 ground actions and 761 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 2.64 secs
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Goal: conjunctive
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Simplified: 15822 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 2.22 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 0: 337 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 81132 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 161927 variables
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Allocated 32 MB (total 556 MB)
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10 UNSAT (13 decisions 10 conflicts)
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Horizon 15: 242722 variables
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Horizon 20: 323517 variables
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Horizon 25: 404312 variables
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Allocated 32 MB permanent (total 979 MB)
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Horizon 30: 485107 variables
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Horizon 35: 565902 variables
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Allocated 32 MB permanent (total 1236 MB)
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Horizon 40: 646697 variables
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Horizon 45: 727492 variables
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SAT (9 ID 79 decisions 32 conflicts 727492 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-down(pr2,x2,y0,y1)
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STEP 4: base-right(pr2,x2,x3,y1)
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STEP 5: base-right(pr2,x3,x4,y1)
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STEP 6.0: base-down(pr2,x4,y1,y2)
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STEP 6.1: park(pr2)
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STEP 7: gripper-down(pr2,x4,y2,xrel0,x4,yrel0,yrel1,y2,y3)
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STEP 8.0: get-right(pr2,x4,y2,xrel0,x4,yrel1,y3,object0,x5)
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STEP 8.1: gripper-up(pr2,x4,y2,xrel0,x4,yrel1,yrel0,y3,y2)
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STEP 9.0: put-down(pr2,x4,y2,xrel0,x4,yrel0,y2,object0,y3)
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STEP 9.1: unpark(pr2,xrel0,yrel0)
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STEP 10: base-down(pr2,x4,y2,y3) finish-object(object0,x4,y3)
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STEP 11.0: base-down(pr2,x4,y3,y4)
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STEP 11.1: park(pr2)
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STEP 12: get-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object1,x5)
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STEP 13: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
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STEP 14: put-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object1,x4)
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STEP 15: finish-object(object1,x4,y4) get-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object3,x4)
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STEP 16: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
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STEP 17: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
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STEP 18: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
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STEP 19.0: put-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object3,x5)
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STEP 19.1: unpark(pr2,xrel0,yrel0)
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STEP 20: base-up(pr2,x4,y4,y3) finish-object(object3,x5,y4)
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STEP 21: base-up(pr2,x4,y3,y2)
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STEP 22.0: base-up(pr2,x4,y2,y1)
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STEP 22.1: park(pr2)
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STEP 23: gripper-left(pr2,x4,y1,xrel0,xrel-1,x4,x3,yrel0,y1)
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STEP 24: gripper-right(pr2,x4,y1,xrel-1,xrel0,x3,x4,yrel0,y1)
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STEP 25: unpark(pr2,xrel0,yrel0)
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STEP 26: base-left(pr2,x4,x3,y1)
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STEP 27: base-left(pr2,x3,x2,y1)
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STEP 28: base-down(pr2,x2,y1,y2)
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STEP 29: base-left(pr2,x2,x1,y2)
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STEP 30: base-down(pr2,x1,y2,y3)
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STEP 31: base-down(pr2,x1,y3,y4)
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STEP 32: base-up(pr2,x1,y4,y3)
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STEP 33.0: base-down(pr2,x1,y3,y4)
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STEP 33.1: park(pr2)
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STEP 34: gripper-down(pr2,x1,y4,xrel0,x1,yrel0,yrel1,y4,y5)
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STEP 35.0: get-down(pr2,x1,y4,xrel0,x1,yrel1,y5,object2,y6)
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STEP 35.1: gripper-right(pr2,x1,y4,xrel0,xrel1,x1,x2,yrel1,y5)
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STEP 36: put-left(pr2,x1,y4,xrel1,x2,yrel1,y5,object2,x1)
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STEP 37: finish-object(object2,x1,y5)
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49 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: 7.82 # [s]
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preprocessing: 5.36 # [s]
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maxLearnedClauseLength: 41545
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groundActions:
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afterParsing: 38083
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afterPreprocessing: 15822
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stateVariables:
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afterParsing: 761
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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: 45
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actions: 49
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iterations:
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- horizon: 0
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 337
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- horizon: 5
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 81132
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- horizon: 10
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result: unsatisfiable
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conflicts: 10
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decisions: 13
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variables: 161927
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- horizon: 15
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result: unknown
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conflicts: 421
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decisions: 496
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variables: 242722
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- horizon: 20
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result: unknown
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conflicts: 361
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decisions: 582
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variables: 323517
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- horizon: 25
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result: unknown
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conflicts: 300
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decisions: 494
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variables: 404312
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- horizon: 30
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result: unknown
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conflicts: 242
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decisions: 338
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variables: 485107
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- horizon: 35
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result: unknown
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conflicts: 180
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decisions: 278
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variables: 565902
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- horizon: 40
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result: unknown
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conflicts: 120
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decisions: 199
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variables: 646697
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- horizon: 45
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result: satisfiable
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conflicts: 32
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decisions: 79
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variables: 727492
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...
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