diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_17.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.env new file mode 100644 index 000000000..2a2283325 --- /dev/null +++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.env @@ -0,0 +1,38 @@ +command: +- timeout +- -m=9216000 +- -t=900 +- python3 +- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py +- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl +- /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-17.pddl +- --stats +- --stats-iter +- --verbose +- --print-call +- -m 8192 +- --madagascar-Mp +configuration: + id: m-mp + instanceSets: + - rintanen-aij-2012-interesting + options: + - --stats + - --stats-iter + - --verbose + - --print-call + - -m 8192 + - --madagascar-Mp +exitCode: 0 +instance: + domain: tidybot-sequential-satisficing + instance: 17 + ipc: ipc-2011 +versions: + clingo: 5.2.2 + fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100) + planner: 398fcb36ad9c5a23a8c35820fb4b021802dbc349 (2017-11-30 17:03:27 +0100) + plasp: 3.1.1 + python: 3.6.3 +workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner + diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_17.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.err new file mode 100644 index 000000000..61ba5eb32 --- /dev/null +++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.err @@ -0,0 +1,9 @@ +# configuration: {'id': 'm-mp', 'options': ['--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['rintanen-aij-2012-interesting']} +# instance: {'ipc': 'ipc-2011', 'domain': 'tidybot-sequential-satisficing', 'instance': 17} +# command: ['timeout', '-m=9216000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-17.pddl', '--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'] +# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner +# exit code: 0 +# planner call: /home/pluehne/Documents/ASP/madagascar/Mp /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-17.pddl --stats --stats-iter --verbose -m 8192 +FINISHED CPU 65.42 MEM 0 MAXMEM 7256324 STALE 1 MAXMEM_RSS 4821728 + + diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_17.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.out new file mode 100644 index 000000000..e7dd044ee --- /dev/null +++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.out @@ -0,0 +1,354 @@ +Madagascar 0.99999 31/01/2018 20:14:07 amd64 1-core (no VSIDS) +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 +ignoring --stats-iter +ignoring --verbose + -m 8192 +Domain: tidybot +Problem: test +Parser: 75679 ground actions and 1103 state variables +Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 8.66 secs +Goal: conjunctive +Simplified: 35109 ground actions and 505 state variables +Actions: STRIPS +Disabling graph %: 10 20 30 40 50 60 70 80 90 100 10.88 secs (max SCC size 10) +Plan type: E-step + Allocated 32 MB permanent (total 541 MB) +Horizon 0: 505 variables +0 UNSAT (0 decisions 0 conflicts) +Horizon 5: 178575 variables +5 UNSAT (0 decisions 0 conflicts) +Horizon 10: 356645 variables +10 UNSAT (0 decisions 0 conflicts) +Horizon 15: 534715 variables + Allocated 32 MB (total 957 MB) + Allocated 32 MB permanent (total 1107 MB) +Horizon 20: 712785 variables + Allocated 32 MB permanent (total 1268 MB) +Horizon 25: 890855 variables +Horizon 30: 1068925 variables + Allocated 32 MB permanent (total 1590 MB) +Horizon 35: 1246995 variables + Allocated 32 MB permanent (total 1782 MB) +Horizon 40: 1425065 variables + Allocated 32 MB permanent (total 1986 MB) + Allocated 32 MB permanent (total 2018 MB) +Horizon 45: 1603135 variables + Allocated 32 MB permanent (total 2231 MB) +Horizon 50: 1781205 variables +15 UNSAT (471 decisions 433 conflicts) + Allocated 32 MB permanent (total 2455 MB) + Allocated 32 MB permanent (total 2487 MB) +Horizon 55: 1959275 variables + Allocated 32 MB permanent (total 2722 MB) +Horizon 60: 2137345 variables + Allocated 32 MB permanent (total 2967 MB) + Allocated 32 MB permanent (total 2999 MB) +Horizon 65: 2315415 variables + Allocated 32 MB permanent (total 3255 MB) + Allocated 32 MB permanent (total 3287 MB) +Horizon 70: 2493485 variables + Allocated 32 MB permanent (total 3553 MB) + Allocated 32 MB permanent (total 3585 MB) +Horizon 75: 2671555 variables + Allocated 32 MB permanent (total 3862 MB) + Allocated 32 MB permanent (total 3894 MB) +Horizon 80: 2849625 variables + Allocated 32 MB permanent (total 4182 MB) + Allocated 32 MB permanent (total 4214 MB) + Allocated 32 MB permanent (total 4246 MB) +Horizon 85: 3027695 variables + Allocated 32 MB permanent (total 4543 MB) + Allocated 32 MB permanent (total 4575 MB) +Horizon 90: 3205765 variables + Allocated 32 MB permanent (total 4884 MB) + Allocated 32 MB permanent (total 4916 MB) + Allocated 32 MB permanent (total 4948 MB) +Horizon 95: 3383835 variables + Allocated 32 MB (total 4980 MB) + Allocated 32 MB permanent (total 5299 MB) + Allocated 32 MB permanent (total 5331 MB) +Horizon 100: 3561905 variables + Allocated 32 MB permanent (total 5660 MB) + Allocated 32 MB permanent (total 5692 MB) + Allocated 32 MB permanent (total 5724 MB) +Horizon 105: 3739975 variables + Allocated 32 MB permanent (total 6064 MB) + Allocated 32 MB permanent (total 6096 MB) + Allocated 32 MB permanent (total 6128 MB) +Horizon 110: 3918045 variables + Allocated 32 MB permanent (total 6479 MB) + Allocated 32 MB permanent (total 6511 MB) + Allocated 32 MB permanent (total 6543 MB) + Allocated 32 MB permanent (total 6575 MB) +Horizon 115: 4096115 variables +SAT (21 ID 334 decisions 161 conflicts 3739975 variables) +PLAN FOUND: 105 steps +STEP 0: unpark(pr2,xrel0,yrel0) +STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1) +STEP 2: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1) +STEP 3: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1) +STEP 4.0: base-cart-left(pr2,cart,x2,x1,y0,x2,x1,y1) +STEP 4.1: ungrasp-cart(pr2,cart) +STEP 5: base-left(pr2,x1,x0,y0) +STEP 6: base-down(pr2,x0,y0,y1) +STEP 7: base-up(pr2,x0,y1,y0) +STEP 8: base-down(pr2,x0,y0,y1) +STEP 9: grasp-cart-right(pr2,cart,x0,y1,x1) +STEP 10.0: base-cart-up(pr2,cart,x0,y1,y0,x1,y1,y0) +STEP 10.1: ungrasp-cart(pr2,cart) +STEP 11: base-down(pr2,x0,y0,y1) +STEP 12: base-down(pr2,x0,y1,y2) +STEP 13: base-down(pr2,x0,y2,y3) +STEP 14: base-down(pr2,x0,y3,y4) +STEP 15.0: base-down(pr2,x0,y4,y5) +STEP 15.1: park(pr2) +STEP 16: gripper-up(pr2,x0,y5,xrel0,x0,yrel0,yrel-1,y5,y4) +STEP 17.0: get-right(pr2,x0,y5,xrel0,x0,yrel-1,y4,object2,x1) +STEP 17.1: gripper-down(pr2,x0,y5,xrel0,x0,yrel-1,yrel0,y4,y5) +STEP 18: gripper-down(pr2,x0,y5,xrel0,x0,yrel0,yrel1,y5,y6) +STEP 19: gripper-up(pr2,x0,y5,xrel0,x0,yrel1,yrel0,y6,y5) +STEP 20: unpark(pr2,xrel0,yrel0) +STEP 21.0: base-right(pr2,x0,x1,y5) +STEP 21.1: park(pr2) +STEP 22.0: put-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4) +STEP 22.1: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel0,y5) +STEP 23.0: get-down(pr2,x1,y5,xrel1,x2,yrel0,y5,object3,y6) +STEP 23.1: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5) +STEP 24: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6) +STEP 25: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6) +STEP 26.0: put-right(pr2,x1,y5,xrel1,x2,yrel1,y6,object3,x3) +STEP 26.1: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5) +STEP 27: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5) +STEP 28: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6) +STEP 29: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6) +STEP 30: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5) +STEP 31: gripper-up(pr2,x1,y5,xrel1,x2,yrel0,yrel-1,y5,y4) +STEP 32: gripper-down(pr2,x1,y5,xrel1,x2,yrel-1,yrel0,y4,y5) +STEP 33: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5) +STEP 34: unpark(pr2,xrel0,yrel0) +STEP 35: base-down(pr2,x1,y5,y6) +STEP 36.0: base-down(pr2,x1,y6,y7) +STEP 36.1: park(pr2) +STEP 37.0: get-down(pr2,x1,y7,xrel0,x1,yrel0,y7,object0,y8) +STEP 37.1: gripper-right(pr2,x1,y7,xrel0,xrel1,x1,x2,yrel0,y7) +STEP 38.0: put-up(pr2,x1,y7,xrel1,x2,yrel0,y7,object0,y6) +STEP 38.1: gripper-left(pr2,x1,y7,xrel1,xrel0,x2,x1,yrel0,y7) +STEP 39: finish-object(object0,x2,y6) unpark(pr2,xrel0,yrel0) +STEP 40.0: base-up(pr2,x1,y7,y6) +STEP 40.1: park(pr2) +STEP 41: gripper-left(pr2,x1,y6,xrel0,xrel-1,x1,x0,yrel0,y6) +STEP 42: gripper-right(pr2,x1,y6,xrel-1,xrel0,x0,x1,yrel0,y6) +STEP 43: unpark(pr2,xrel0,yrel0) +STEP 44.0: base-up(pr2,x1,y6,y5) +STEP 44.1: park(pr2) +STEP 45.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4) +STEP 45.1: unpark(pr2,xrel0,yrel0) +STEP 46: base-right(pr2,x1,x2,y5) +STEP 47: base-right(pr2,x2,x3,y5) +STEP 48: base-right(pr2,x3,x4,y5) +STEP 49: base-right(pr2,x4,x5,y5) +STEP 50.0: base-right(pr2,x5,x6,y5) +STEP 50.1: park(pr2) +STEP 51: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5) +STEP 52: gripper-down(pr2,x6,y5,xrel-1,x5,yrel0,yrel1,y5,y6) +STEP 53: gripper-up(pr2,x6,y5,xrel-1,x5,yrel1,yrel0,y6,y5) +STEP 54: gripper-up(pr2,x6,y5,xrel-1,x5,yrel0,yrel-1,y5,y4) +STEP 55.0: put-up(pr2,x6,y5,xrel-1,x5,yrel-1,y4,object2,y3) +STEP 55.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4) +STEP 56.0: get-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3) +STEP 56.1: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel-1,y4) +STEP 57: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4) +STEP 58.0: put-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3) +STEP 58.1: gripper-down(pr2,x6,y5,xrel0,x6,yrel-1,yrel0,y4,y5) +STEP 59: unpark(pr2,xrel0,yrel0) +STEP 60.0: base-up(pr2,x6,y5,y4) +STEP 60.1: park(pr2) +STEP 61: gripper-left(pr2,x6,y4,xrel0,xrel-1,x6,x5,yrel0,y4) +STEP 62.0: get-up(pr2,x6,y4,xrel-1,x5,yrel0,y4,object2,y3) +STEP 62.1: gripper-right(pr2,x6,y4,xrel-1,xrel0,x5,x6,yrel0,y4) +STEP 63: unpark(pr2,xrel0,yrel0) +STEP 64: base-up(pr2,x6,y4,y3) +STEP 65: base-up(pr2,x6,y3,y2) +STEP 66.0: base-left(pr2,x6,x5,y2) +STEP 66.1: park(pr2) +STEP 67: put-right(pr2,x5,y2,xrel0,x5,yrel0,y2,object2,x6) +STEP 68: finish-object(object2,x6,y2) gripper-down(pr2,x5,y2,xrel0,x5,yrel0,yrel1,y2,y3) +STEP 69.0: get-right(pr2,x5,y2,xrel0,x5,yrel1,y3,object1,x6) +STEP 69.1: gripper-up(pr2,x5,y2,xrel0,x5,yrel1,yrel0,y3,y2) +STEP 70.0: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object1,y3) +STEP 70.1: unpark(pr2,xrel0,yrel0) +STEP 71.0: base-right(pr2,x5,x6,y2) finish-object(object1,x5,y3) +STEP 71.1: park(pr2) +STEP 72: gripper-down(pr2,x6,y2,xrel0,x6,yrel0,yrel1,y2,y3) +STEP 73: gripper-up(pr2,x6,y2,xrel0,x6,yrel1,yrel0,y3,y2) +STEP 74: unpark(pr2,xrel0,yrel0) +STEP 75: base-down(pr2,x6,y2,y3) +STEP 76: base-down(pr2,x6,y3,y4) +STEP 77: base-left(pr2,x6,x5,y4) +STEP 78: base-down(pr2,x5,y4,y5) +STEP 79.0: base-left(pr2,x5,x4,y5) +STEP 79.1: park(pr2) +STEP 80: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6) +STEP 81.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3) +STEP 81.1: gripper-right(pr2,x4,y5,xrel0,xrel1,x4,x5,yrel1,y6) +STEP 82: gripper-up(pr2,x4,y5,xrel1,x5,yrel1,yrel0,y6,y5) +STEP 83: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4) +STEP 84: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5) +STEP 85: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4) +STEP 86: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5) +STEP 87: gripper-left(pr2,x4,y5,xrel1,xrel0,x5,x4,yrel0,y5) +STEP 88: unpark(pr2,xrel0,yrel0) +STEP 89.0: base-right(pr2,x4,x5,y5) +STEP 89.1: park(pr2) +STEP 90: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4) +STEP 91: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5) +STEP 92: unpark(pr2,xrel0,yrel0) +STEP 93: base-right(pr2,x5,x6,y5) +STEP 94.0: base-up(pr2,x6,y5,y4) +STEP 94.1: park(pr2) +STEP 95: put-up(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,y3) +STEP 96: finish-object(object3,x6,y3) +128 actions in the plan. + + +# statistics in YAML format +--- +runtime: + total: 63.99 # [s] + preprocessing: 20.92 # [s] +maxLearnedClauseLength: 176324 +groundActions: + afterParsing: 75679 + afterPreprocessing: 35109 +stateVariables: + afterParsing: 1103 + afterPreprocessing: 505 +stronglyConnectedComponents: + maxSize: 10 +plan: + found: true + length: 105 + actions: 128 +iterations: + - horizon: 0 + result: unsatisfiable + conflicts: 0 + decisions: 0 + variables: 505 + - horizon: 5 + result: unsatisfiable + conflicts: 0 + decisions: 0 + variables: 178575 + - horizon: 10 + result: unsatisfiable + conflicts: 0 + decisions: 0 + variables: 356645 + - horizon: 15 + result: unsatisfiable + conflicts: 433 + decisions: 471 + variables: 534715 + - horizon: 20 + result: unknown + conflicts: 1200 + decisions: 1341 + variables: 712785 + - horizon: 25 + result: unknown + conflicts: 1143 + decisions: 1426 + variables: 890855 + - horizon: 30 + result: unknown + conflicts: 1020 + decisions: 1307 + variables: 1068925 + - horizon: 35 + result: unknown + conflicts: 960 + decisions: 1343 + variables: 1246995 + - horizon: 40 + result: unknown + conflicts: 840 + decisions: 1215 + variables: 1425065 + - horizon: 45 + result: unknown + conflicts: 781 + decisions: 1199 + variables: 1603135 + - horizon: 50 + result: unknown + conflicts: 720 + decisions: 1141 + variables: 1781205 + - horizon: 55 + result: unknown + conflicts: 660 + decisions: 1107 + variables: 1959275 + - horizon: 60 + result: unknown + conflicts: 601 + decisions: 1045 + variables: 2137345 + - horizon: 65 + result: unknown + conflicts: 541 + decisions: 891 + variables: 2315415 + - horizon: 70 + result: unknown + conflicts: 481 + decisions: 790 + variables: 2493485 + - horizon: 75 + result: unknown + conflicts: 420 + decisions: 740 + variables: 2671555 + - horizon: 80 + result: unknown + conflicts: 420 + decisions: 706 + variables: 2849625 + - horizon: 85 + result: unknown + conflicts: 362 + decisions: 639 + variables: 3027695 + - horizon: 90 + result: unknown + conflicts: 360 + decisions: 638 + variables: 3205765 + - horizon: 95 + result: unknown + conflicts: 301 + decisions: 484 + variables: 3383835 + - horizon: 100 + result: unknown + conflicts: 240 + decisions: 419 + variables: 3561905 + - horizon: 105 + result: satisfiable + conflicts: 161 + decisions: 334 + variables: 3739975 + - horizon: 110 + result: unknown + conflicts: 60 + decisions: 102 + variables: 3918045 + - horizon: 115 + result: unknown + conflicts: 0 + decisions: 0 + variables: 4096115 +... +