208 lines
6.0 KiB
Plaintext
208 lines
6.0 KiB
Plaintext
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-2.pddlignoring --stats
|
|
ignoring --stats-iter
|
|
ignoring --verbose
|
|
-m 8192
|
|
Domain: tidybot
|
|
Problem: test
|
|
Parser: 38489 ground actions and 762 state variables
|
|
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 2.04 secs
|
|
Goal: conjunctive
|
|
Simplified: 14145 ground actions and 342 state variables
|
|
Actions: STRIPS
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.82 secs (max SCC size 10)
|
|
Plan type: E-step
|
|
Allocated 32 MB permanent (total 255 MB)
|
|
Horizon 0: 342 variables
|
|
0 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 5: 72777 variables
|
|
5 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 10: 145212 variables
|
|
10 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 15: 217647 variables
|
|
15 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 20: 290082 variables
|
|
Allocated 32 MB (total 718 MB)
|
|
Horizon 25: 362517 variables
|
|
Allocated 32 MB permanent (total 950 MB)
|
|
Horizon 30: 434952 variables
|
|
Horizon 35: 507387 variables
|
|
Horizon 40: 579822 variables
|
|
Allocated 32 MB permanent (total 1313 MB)
|
|
Horizon 45: 652257 variables
|
|
Horizon 50: 724692 variables
|
|
Allocated 32 MB permanent (total 1588 MB)
|
|
Horizon 55: 797127 variables
|
|
Allocated 32 MB permanent (total 1748 MB)
|
|
Horizon 60: 869562 variables
|
|
Horizon 65: 941997 variables
|
|
Allocated 32 MB permanent (total 2048 MB)
|
|
Horizon 70: 1014432 variables
|
|
Allocated 32 MB permanent (total 2221 MB)
|
|
Horizon 75: 1086867 variables
|
|
Allocated 32 MB permanent (total 2398 MB)
|
|
Horizon 80: 1159302 variables
|
|
SAT (9 ID 613 decisions 457 conflicts 652257 variables)
|
|
PLAN FOUND: 45 steps
|
|
STEP 0: unpark(pr2,xrel0,yrel0)
|
|
STEP 1: base-right(pr2,x0,x1,y0)
|
|
STEP 2: base-down(pr2,x1,y0,y1)
|
|
STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
|
|
STEP 4.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
|
|
STEP 4.1: ungrasp-cart(pr2,cart)
|
|
STEP 5: base-right(pr2,x1,x2,y0)
|
|
STEP 6: base-right(pr2,x2,x3,y0)
|
|
STEP 7: base-left(pr2,x3,x2,y0)
|
|
STEP 8: base-left(pr2,x2,x1,y0)
|
|
STEP 9: base-right(pr2,x1,x2,y0)
|
|
STEP 10: base-down(pr2,x2,y0,y1)
|
|
STEP 11: base-left(pr2,x2,x1,y1)
|
|
STEP 12.0: base-up(pr2,x1,y1,y0)
|
|
STEP 12.1: park(pr2)
|
|
STEP 13: unpark(pr2,xrel0,yrel0)
|
|
STEP 14: base-right(pr2,x1,x2,y0)
|
|
STEP 15: base-down(pr2,x2,y0,y1)
|
|
STEP 16.0: base-left(pr2,x2,x1,y1)
|
|
STEP 16.1: park(pr2)
|
|
STEP 17: gripper-down(pr2,x1,y1,xrel0,x1,yrel0,yrel1,y1,y2)
|
|
STEP 18.0: get-down(pr2,x1,y1,xrel0,x1,yrel1,y2,object2,y3)
|
|
STEP 18.1: gripper-left(pr2,x1,y1,xrel0,xrel-1,x1,x0,yrel1,y2)
|
|
STEP 19.0: put-right(pr2,x1,y1,xrel-1,x0,yrel1,y2,object2,x1)
|
|
STEP 19.1: gripper-up(pr2,x1,y1,xrel-1,x0,yrel1,yrel0,y2,y1)
|
|
STEP 20: gripper-right(pr2,x1,y1,xrel-1,xrel0,x0,x1,yrel0,y1)
|
|
STEP 21.0: get-down(pr2,x1,y1,xrel0,x1,yrel0,y1,object2,y2)
|
|
STEP 21.1: unpark(pr2,xrel0,yrel0)
|
|
STEP 22: base-right(pr2,x1,x2,y1)
|
|
STEP 23: base-down(pr2,x2,y1,y2)
|
|
STEP 24: base-right(pr2,x2,x3,y2)
|
|
STEP 25: base-right(pr2,x3,x4,y2)
|
|
STEP 26: base-right(pr2,x4,x5,y2)
|
|
STEP 27: base-right(pr2,x5,x6,y2)
|
|
STEP 28: base-right(pr2,x6,x7,y2)
|
|
STEP 29: base-down(pr2,x7,y2,y3)
|
|
STEP 30: base-down(pr2,x7,y3,y4)
|
|
STEP 31: base-left(pr2,x7,x6,y4)
|
|
STEP 32.0: base-left(pr2,x6,x5,y4)
|
|
STEP 32.1: park(pr2)
|
|
STEP 33: gripper-left(pr2,x5,y4,xrel0,xrel-1,x5,x4,yrel0,y4)
|
|
STEP 34: put-right(pr2,x5,y4,xrel-1,x4,yrel0,y4,object2,x5)
|
|
STEP 35: finish-object(object2,x5,y4) get-down(pr2,x5,y4,xrel-1,x4,yrel0,y4,object0,y5)
|
|
STEP 36: gripper-down(pr2,x5,y4,xrel-1,x4,yrel0,yrel1,y4,y5)
|
|
STEP 37: put-up(pr2,x5,y4,xrel-1,x4,yrel1,y5,object0,y4)
|
|
STEP 38: finish-object(object0,x4,y4) get-right(pr2,x5,y4,xrel-1,x4,yrel1,y5,object1,x5)
|
|
STEP 39: gripper-right(pr2,x5,y4,xrel-1,xrel0,x4,x5,yrel1,y5)
|
|
STEP 40: put-left(pr2,x5,y4,xrel0,x5,yrel1,y5,object1,x4)
|
|
STEP 41.0: finish-object(object1,x4,y5) get-up(pr2,x5,y4,xrel0,x5,yrel1,y5,object3,y4)
|
|
STEP 41.1: gripper-right(pr2,x5,y4,xrel0,xrel1,x5,x6,yrel1,y5)
|
|
STEP 42: put-left(pr2,x5,y4,xrel1,x6,yrel1,y5,object3,x5)
|
|
STEP 43: finish-object(object3,x5,y5)
|
|
55 actions in the plan.
|
|
|
|
|
|
# statistics in YAML format
|
|
---
|
|
runtime:
|
|
total: 13.09 # [s]
|
|
preprocessing: 4.26 # [s]
|
|
maxLearnedClauseLength: 44733
|
|
groundActions:
|
|
afterParsing: 38489
|
|
afterPreprocessing: 14145
|
|
stateVariables:
|
|
afterParsing: 762
|
|
afterPreprocessing: 342
|
|
stronglyConnectedComponents:
|
|
maxSize: 10
|
|
plan:
|
|
found: true
|
|
length: 45
|
|
actions: 55
|
|
iterations:
|
|
- horizon: 0
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 342
|
|
- horizon: 5
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 72777
|
|
- horizon: 10
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 145212
|
|
- horizon: 15
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 217647
|
|
- horizon: 20
|
|
result: unknown
|
|
conflicts: 780
|
|
decisions: 841
|
|
variables: 290082
|
|
- horizon: 25
|
|
result: unknown
|
|
conflicts: 720
|
|
decisions: 828
|
|
variables: 362517
|
|
- horizon: 30
|
|
result: unknown
|
|
conflicts: 660
|
|
decisions: 815
|
|
variables: 434952
|
|
- horizon: 35
|
|
result: unknown
|
|
conflicts: 600
|
|
decisions: 816
|
|
variables: 507387
|
|
- horizon: 40
|
|
result: unknown
|
|
conflicts: 540
|
|
decisions: 679
|
|
variables: 579822
|
|
- horizon: 45
|
|
result: satisfiable
|
|
conflicts: 457
|
|
decisions: 613
|
|
variables: 652257
|
|
- horizon: 50
|
|
result: unknown
|
|
conflicts: 361
|
|
decisions: 489
|
|
variables: 724692
|
|
- horizon: 55
|
|
result: unknown
|
|
conflicts: 300
|
|
decisions: 396
|
|
variables: 797127
|
|
- horizon: 60
|
|
result: unknown
|
|
conflicts: 240
|
|
decisions: 289
|
|
variables: 869562
|
|
- horizon: 65
|
|
result: unknown
|
|
conflicts: 180
|
|
decisions: 208
|
|
variables: 941997
|
|
- horizon: 70
|
|
result: unknown
|
|
conflicts: 120
|
|
decisions: 135
|
|
variables: 1014432
|
|
- horizon: 75
|
|
result: unknown
|
|
conflicts: 60
|
|
decisions: 68
|
|
variables: 1086867
|
|
- horizon: 80
|
|
result: unknown
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 1159302
|
|
...
|
|
|