121 lines
4.6 KiB
Plaintext
121 lines
4.6 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-12.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 65 -T 65
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Domain: tidybot
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Problem: test
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Parser: 53906 ground actions and 919 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 5.24 secs
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Goal: conjunctive
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Simplified: 27414 ground actions and 414 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.94 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 424 MB)
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Allocated 32 MB permanent (total 644 MB)
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Horizon 65: 1809234 variables
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Allocated 32 MB (total 683 MB)
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SAT (0 ID 2213 decisions 1414 conflicts 1809234 variables)
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PLAN FOUND: 65 steps
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STEP 0: finish-object(object3,x3,y1) unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2: base-left(pr2,x1,x0,y0)
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STEP 3: grasp-cart-below(pr2,cart,x0,y0,y1)
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STEP 4: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 5.0: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
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STEP 5.1: ungrasp-cart(pr2,cart)
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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-right(pr2,x4,x5,y0)
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STEP 9: base-right(pr2,x5,x6,y0)
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STEP 10: base-down(pr2,x6,y0,y1)
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STEP 11.0: base-down(pr2,x6,y1,y2)
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STEP 11.1: park(pr2)
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STEP 12: gripper-left(pr2,x6,y2,xrel0,xrel-1,x6,x5,yrel0,y2)
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STEP 13.0: get-up(pr2,x6,y2,xrel-1,x5,yrel0,y2,object2,y1)
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STEP 13.1: gripper-right(pr2,x6,y2,xrel-1,xrel0,x5,x6,yrel0,y2)
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STEP 14: unpark(pr2,xrel0,yrel0)
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STEP 15: base-down(pr2,x6,y2,y3)
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STEP 16: base-down(pr2,x6,y3,y4)
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STEP 17: base-right(pr2,x6,x7,y4)
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STEP 18: base-down(pr2,x7,y4,y5)
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STEP 19.0: base-right(pr2,x7,x8,y5)
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STEP 19.1: park(pr2)
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STEP 20: gripper-down(pr2,x8,y5,xrel0,x8,yrel0,yrel1,y5,y6)
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STEP 21: gripper-up(pr2,x8,y5,xrel0,x8,yrel1,yrel0,y6,y5)
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STEP 22: unpark(pr2,xrel0,yrel0)
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STEP 23: base-down(pr2,x8,y5,y6)
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STEP 24: base-left(pr2,x8,x7,y6)
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STEP 25: base-left(pr2,x7,x6,y6)
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STEP 26: base-down(pr2,x6,y6,y7)
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STEP 27: base-left(pr2,x6,x5,y7)
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STEP 28.0: base-left(pr2,x5,x4,y7)
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STEP 28.1: park(pr2)
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STEP 29: gripper-up(pr2,x4,y7,xrel0,x4,yrel0,yrel-1,y7,y6)
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STEP 30.0: put-up(pr2,x4,y7,xrel0,x4,yrel-1,y6,object2,y5)
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STEP 30.1: gripper-left(pr2,x4,y7,xrel0,xrel-1,x4,x3,yrel-1,y6)
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STEP 31: gripper-right(pr2,x4,y7,xrel-1,xrel0,x3,x4,yrel-1,y6)
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STEP 32: gripper-down(pr2,x4,y7,xrel0,x4,yrel-1,yrel0,y6,y7)
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STEP 33: unpark(pr2,xrel0,yrel0)
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STEP 34: base-up(pr2,x4,y7,y6)
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STEP 35: base-up(pr2,x4,y6,y5)
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STEP 36: base-up(pr2,x4,y5,y4)
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STEP 37: base-down(pr2,x4,y4,y5)
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STEP 38.0: base-left(pr2,x4,x3,y5)
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STEP 38.1: park(pr2)
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STEP 39.0: get-up(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y4)
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STEP 39.1: unpark(pr2,xrel0,yrel0)
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STEP 40.0: base-right(pr2,x3,x4,y5)
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STEP 40.1: park(pr2)
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STEP 41: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
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STEP 42: put-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object1,x4)
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STEP 43: get-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object2,x4)
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STEP 44: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
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STEP 45: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
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STEP 46.0: put-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object2,x4)
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STEP 46.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel0,yrel1,y5,y6)
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STEP 47: gripper-up(pr2,x4,y5,xrel-1,x3,yrel1,yrel0,y6,y5)
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STEP 48.0: get-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object1,x4)
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STEP 48.1: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4)
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STEP 49: put-down(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object1,y5)
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STEP 50: get-down(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object1,y5)
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STEP 51: put-down(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object1,y5)
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STEP 52: finish-object(object1,x3,y5) get-right(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,x4)
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STEP 53: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel-1,y4)
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STEP 54: put-left(pr2,x4,y5,xrel0,x4,yrel-1,y4,object0,x3)
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STEP 55: finish-object(object0,x3,y4) gripper-down(pr2,x4,y5,xrel0,x4,yrel-1,yrel0,y4,y5)
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STEP 56: unpark(pr2,xrel0,yrel0)
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STEP 57.0: base-left(pr2,x4,x3,y5)
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STEP 57.1: park(pr2)
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STEP 58.0: get-right(pr2,x3,y5,xrel0,x3,yrel0,y5,object2,x4)
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STEP 58.1: unpark(pr2,xrel0,yrel0)
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STEP 59.0: base-up(pr2,x3,y5,y4)
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STEP 59.1: park(pr2)
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STEP 60: put-right(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x4)
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STEP 61: finish-object(object2,x4,y4)
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79 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: 20.13 # [s]
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preprocessing: 13.10 # [s]
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maxLearnedClauseLength: 145940
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groundActions:
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afterParsing: 53906
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afterPreprocessing: 27414
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stateVariables:
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afterParsing: 919
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afterPreprocessing: 414
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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: 65
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actions: 79
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iterations:
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...
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