156 lines
5.6 KiB
Plaintext
156 lines
5.6 KiB
Plaintext
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Madagascar 0.99999 25/02/2015 09:46:27 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-5.pddlignoring --stats
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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: 38092 ground actions and 758 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 1.84 secs
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Goal: conjunctive
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Simplified: 16230 ground actions and 339 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.29 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 278 MB)
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Horizon 0: 339 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 83184 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 166029 variables
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Allocated 32 MB (total 561 MB)
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10 UNSAT (57 decisions 57 conflicts)
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Horizon 15: 248874 variables
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Horizon 20: 331719 variables
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Horizon 25: 414564 variables
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Allocated 32 MB permanent (total 987 MB)
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Horizon 30: 497409 variables
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Horizon 35: 580254 variables
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Allocated 32 MB permanent (total 1245 MB)
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Horizon 40: 663099 variables
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Horizon 45: 745944 variables
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Allocated 32 MB permanent (total 1523 MB)
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Horizon 50: 828789 variables
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Allocated 32 MB permanent (total 1685 MB)
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Horizon 55: 911634 variables
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Horizon 60: 994479 variables
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Allocated 32 MB permanent (total 1992 MB)
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Horizon 65: 1077324 variables
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Allocated 32 MB permanent (total 2169 MB)
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Horizon 70: 1160169 variables
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Allocated 32 MB permanent (total 2351 MB)
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Horizon 75: 1243014 variables
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Allocated 32 MB permanent (total 2537 MB)
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Horizon 80: 1325859 variables
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Allocated 32 MB permanent (total 2729 MB)
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Horizon 85: 1408704 variables
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Allocated 32 MB (total 2761 MB)
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SAT (230 decisions 104 conflicts)
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PLAN FOUND: 80 steps
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STEP 0: finish-object(object3,x4,y5) unpark(pr2,xrel0,yrel0)
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STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
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STEP 2: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 3: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
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STEP 4: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 5: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
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STEP 6: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 7: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
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STEP 8: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 9.0: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
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STEP 9.1: ungrasp-cart(pr2,cart)
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STEP 10: base-right(pr2,x0,x1,y0)
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STEP 11: base-down(pr2,x1,y0,y1)
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STEP 12: base-down(pr2,x1,y1,y2)
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STEP 13: base-up(pr2,x1,y2,y1)
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STEP 14: base-down(pr2,x1,y1,y2)
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STEP 15: base-down(pr2,x1,y2,y3)
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STEP 16: base-down(pr2,x1,y3,y4)
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STEP 17: base-right(pr2,x1,x2,y4)
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STEP 18: base-left(pr2,x2,x1,y4)
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STEP 19: base-up(pr2,x1,y4,y3)
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STEP 20: base-up(pr2,x1,y3,y2)
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STEP 21: base-right(pr2,x1,x2,y2)
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STEP 22: base-right(pr2,x2,x3,y2)
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STEP 23: base-right(pr2,x3,x4,y2)
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STEP 24.0: base-right(pr2,x4,x5,y2)
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STEP 24.1: park(pr2)
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STEP 25: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
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STEP 26.0: get-up(pr2,x5,y2,xrel1,x6,yrel0,y2,object0,y1)
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STEP 26.1: gripper-down(pr2,x5,y2,xrel1,x6,yrel0,yrel1,y2,y3)
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STEP 27: gripper-up(pr2,x5,y2,xrel1,x6,yrel1,yrel0,y3,y2)
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STEP 28: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
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STEP 29: unpark(pr2,xrel0,yrel0)
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STEP 30: base-left(pr2,x5,x4,y2)
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STEP 31: base-left(pr2,x4,x3,y2)
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STEP 32: base-left(pr2,x3,x2,y2)
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STEP 33: base-left(pr2,x2,x1,y2)
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STEP 34: base-down(pr2,x1,y2,y3)
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STEP 35: base-down(pr2,x1,y3,y4)
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STEP 36.0: base-right(pr2,x1,x2,y4)
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STEP 36.1: park(pr2)
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STEP 37.0: put-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object0,x3)
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STEP 37.1: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
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STEP 38.0: finish-object(object0,x3,y4) get-right(pr2,x2,y4,xrel0,x2,yrel1,y5,object2,x3)
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STEP 38.1: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
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STEP 39: unpark(pr2,xrel0,yrel0)
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STEP 40.0: base-down(pr2,x2,y4,y5)
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STEP 40.1: park(pr2)
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STEP 41: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
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STEP 42: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
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STEP 43: unpark(pr2,xrel0,yrel0)
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STEP 44: base-up(pr2,x2,y5,y4)
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STEP 45.0: base-down(pr2,x2,y4,y5)
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STEP 45.1: park(pr2)
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STEP 46: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
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STEP 47: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
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STEP 48: unpark(pr2,xrel0,yrel0)
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STEP 49: base-up(pr2,x2,y5,y4)
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STEP 50.0: base-right(pr2,x2,x3,y4)
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STEP 50.1: park(pr2)
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STEP 51.0: put-right(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x4)
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STEP 51.1: unpark(pr2,xrel0,yrel0)
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STEP 52: base-down(pr2,x3,y4,y5) finish-object(object2,x4,y4)
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STEP 53: base-left(pr2,x3,x2,y5)
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STEP 54: base-up(pr2,x2,y5,y4)
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STEP 55: base-down(pr2,x2,y4,y5)
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STEP 56: base-up(pr2,x2,y5,y4)
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STEP 57: base-left(pr2,x2,x1,y4)
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STEP 58.0: base-up(pr2,x1,y4,y3)
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STEP 58.1: park(pr2)
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STEP 59: gripper-up(pr2,x1,y3,xrel0,x1,yrel0,yrel-1,y3,y2)
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STEP 60: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel-1,y2)
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STEP 61.0: get-up(pr2,x1,y3,xrel1,x2,yrel-1,y2,object1,y1)
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STEP 61.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel-1,y2)
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STEP 62: gripper-down(pr2,x1,y3,xrel0,x1,yrel-1,yrel0,y2,y3)
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STEP 63: unpark(pr2,xrel0,yrel0)
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STEP 64: base-down(pr2,x1,y3,y4)
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STEP 65.0: base-right(pr2,x1,x2,y4)
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STEP 65.1: park(pr2)
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STEP 66: unpark(pr2,xrel0,yrel0)
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STEP 67.0: base-right(pr2,x2,x3,y4)
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STEP 67.1: park(pr2)
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STEP 68: put-down(pr2,x3,y4,xrel0,x3,yrel0,y4,object1,y5)
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STEP 69: finish-object(object1,x3,y5)
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87 actions in the plan.
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total time 15.65 preprocess 4.57
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total size 2.921 GB
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max. learned clause length 65058
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t val conflicts decisions
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0 0 0 0
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5 0 0 0
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10 0 57 57
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15 -1 901 1005
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20 -1 840 975
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25 -1 780 973
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30 -1 720 928
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35 -1 661 921
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40 -1 600 873
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45 -1 540 776
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50 -1 480 748
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55 -1 420 663
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60 -1 360 651
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65 -1 300 530
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70 -1 240 411
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75 -1 181 322
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80 1 104 230
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