248 lines
7.4 KiB
Plaintext
248 lines
7.4 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-5.pddlignoring --stats
|
|
ignoring --stats-iter
|
|
ignoring --verbose
|
|
-m 8192
|
|
Domain: tidybot
|
|
Problem: test
|
|
Parser: 38092 ground actions and 758 state variables
|
|
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 2.00 secs
|
|
Goal: conjunctive
|
|
Simplified: 16230 ground actions and 339 state variables
|
|
Actions: STRIPS
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.29 secs (max SCC size 10)
|
|
Plan type: E-step
|
|
Allocated 32 MB permanent (total 278 MB)
|
|
Horizon 0: 339 variables
|
|
0 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 5: 83184 variables
|
|
5 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 10: 166029 variables
|
|
Allocated 32 MB (total 561 MB)
|
|
10 UNSAT (57 decisions 57 conflicts)
|
|
Horizon 15: 248874 variables
|
|
Horizon 20: 331719 variables
|
|
Horizon 25: 414564 variables
|
|
Allocated 32 MB permanent (total 987 MB)
|
|
Horizon 30: 497409 variables
|
|
Horizon 35: 580254 variables
|
|
Allocated 32 MB permanent (total 1245 MB)
|
|
Horizon 40: 663099 variables
|
|
Horizon 45: 745944 variables
|
|
Allocated 32 MB permanent (total 1523 MB)
|
|
Horizon 50: 828789 variables
|
|
Allocated 32 MB permanent (total 1685 MB)
|
|
Horizon 55: 911634 variables
|
|
Horizon 60: 994479 variables
|
|
Allocated 32 MB permanent (total 1992 MB)
|
|
Horizon 65: 1077324 variables
|
|
Allocated 32 MB permanent (total 2169 MB)
|
|
Horizon 70: 1160169 variables
|
|
Allocated 32 MB permanent (total 2351 MB)
|
|
Horizon 75: 1243014 variables
|
|
Allocated 32 MB permanent (total 2537 MB)
|
|
Horizon 80: 1325859 variables
|
|
Allocated 32 MB permanent (total 2729 MB)
|
|
Horizon 85: 1408704 variables
|
|
Allocated 32 MB (total 2761 MB)
|
|
SAT (16 ID 230 decisions 104 conflicts 1325859 variables)
|
|
PLAN FOUND: 80 steps
|
|
STEP 0: finish-object(object3,x4,y5) 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-left(pr2,cart,x1,x0,y0,x1,x0,y1)
|
|
STEP 4: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
|
|
STEP 5: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
|
|
STEP 6: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
|
|
STEP 7: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
|
|
STEP 8: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
|
|
STEP 9.0: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
|
|
STEP 9.1: ungrasp-cart(pr2,cart)
|
|
STEP 10: base-right(pr2,x0,x1,y0)
|
|
STEP 11: base-down(pr2,x1,y0,y1)
|
|
STEP 12: base-down(pr2,x1,y1,y2)
|
|
STEP 13: base-up(pr2,x1,y2,y1)
|
|
STEP 14: base-down(pr2,x1,y1,y2)
|
|
STEP 15: base-down(pr2,x1,y2,y3)
|
|
STEP 16: base-down(pr2,x1,y3,y4)
|
|
STEP 17: base-right(pr2,x1,x2,y4)
|
|
STEP 18: base-left(pr2,x2,x1,y4)
|
|
STEP 19: base-up(pr2,x1,y4,y3)
|
|
STEP 20: base-up(pr2,x1,y3,y2)
|
|
STEP 21: base-right(pr2,x1,x2,y2)
|
|
STEP 22: base-right(pr2,x2,x3,y2)
|
|
STEP 23: base-right(pr2,x3,x4,y2)
|
|
STEP 24.0: base-right(pr2,x4,x5,y2)
|
|
STEP 24.1: park(pr2)
|
|
STEP 25: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
|
|
STEP 26.0: get-up(pr2,x5,y2,xrel1,x6,yrel0,y2,object0,y1)
|
|
STEP 26.1: gripper-down(pr2,x5,y2,xrel1,x6,yrel0,yrel1,y2,y3)
|
|
STEP 27: gripper-up(pr2,x5,y2,xrel1,x6,yrel1,yrel0,y3,y2)
|
|
STEP 28: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
|
|
STEP 29: unpark(pr2,xrel0,yrel0)
|
|
STEP 30: base-left(pr2,x5,x4,y2)
|
|
STEP 31: base-left(pr2,x4,x3,y2)
|
|
STEP 32: base-left(pr2,x3,x2,y2)
|
|
STEP 33: base-left(pr2,x2,x1,y2)
|
|
STEP 34: base-down(pr2,x1,y2,y3)
|
|
STEP 35: base-down(pr2,x1,y3,y4)
|
|
STEP 36.0: base-right(pr2,x1,x2,y4)
|
|
STEP 36.1: park(pr2)
|
|
STEP 37.0: put-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object0,x3)
|
|
STEP 37.1: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
|
|
STEP 38.0: finish-object(object0,x3,y4) get-right(pr2,x2,y4,xrel0,x2,yrel1,y5,object2,x3)
|
|
STEP 38.1: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
|
|
STEP 39: unpark(pr2,xrel0,yrel0)
|
|
STEP 40.0: base-down(pr2,x2,y4,y5)
|
|
STEP 40.1: park(pr2)
|
|
STEP 41: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
|
|
STEP 42: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
|
|
STEP 43: unpark(pr2,xrel0,yrel0)
|
|
STEP 44: base-up(pr2,x2,y5,y4)
|
|
STEP 45.0: base-down(pr2,x2,y4,y5)
|
|
STEP 45.1: park(pr2)
|
|
STEP 46: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
|
|
STEP 47: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
|
|
STEP 48: unpark(pr2,xrel0,yrel0)
|
|
STEP 49: base-up(pr2,x2,y5,y4)
|
|
STEP 50.0: base-right(pr2,x2,x3,y4)
|
|
STEP 50.1: park(pr2)
|
|
STEP 51.0: put-right(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x4)
|
|
STEP 51.1: unpark(pr2,xrel0,yrel0)
|
|
STEP 52: base-down(pr2,x3,y4,y5) finish-object(object2,x4,y4)
|
|
STEP 53: base-left(pr2,x3,x2,y5)
|
|
STEP 54: base-up(pr2,x2,y5,y4)
|
|
STEP 55: base-down(pr2,x2,y4,y5)
|
|
STEP 56: base-up(pr2,x2,y5,y4)
|
|
STEP 57: base-left(pr2,x2,x1,y4)
|
|
STEP 58.0: base-up(pr2,x1,y4,y3)
|
|
STEP 58.1: park(pr2)
|
|
STEP 59: gripper-up(pr2,x1,y3,xrel0,x1,yrel0,yrel-1,y3,y2)
|
|
STEP 60: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel-1,y2)
|
|
STEP 61.0: get-up(pr2,x1,y3,xrel1,x2,yrel-1,y2,object1,y1)
|
|
STEP 61.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel-1,y2)
|
|
STEP 62: gripper-down(pr2,x1,y3,xrel0,x1,yrel-1,yrel0,y2,y3)
|
|
STEP 63: unpark(pr2,xrel0,yrel0)
|
|
STEP 64: base-down(pr2,x1,y3,y4)
|
|
STEP 65.0: base-right(pr2,x1,x2,y4)
|
|
STEP 65.1: park(pr2)
|
|
STEP 66: unpark(pr2,xrel0,yrel0)
|
|
STEP 67.0: base-right(pr2,x2,x3,y4)
|
|
STEP 67.1: park(pr2)
|
|
STEP 68: put-down(pr2,x3,y4,xrel0,x3,yrel0,y4,object1,y5)
|
|
STEP 69: finish-object(object1,x3,y5)
|
|
87 actions in the plan.
|
|
|
|
|
|
# statistics in YAML format
|
|
---
|
|
runtime:
|
|
total: 16.03 # [s]
|
|
preprocessing: 4.78 # [s]
|
|
maxLearnedClauseLength: 65058
|
|
groundActions:
|
|
afterParsing: 38092
|
|
afterPreprocessing: 16230
|
|
stateVariables:
|
|
afterParsing: 758
|
|
afterPreprocessing: 339
|
|
stronglyConnectedComponents:
|
|
maxSize: 10
|
|
plan:
|
|
found: true
|
|
length: 80
|
|
actions: 87
|
|
iterations:
|
|
- horizon: 0
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 339
|
|
- horizon: 5
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 83184
|
|
- horizon: 10
|
|
result: unsatisfiable
|
|
conflicts: 57
|
|
decisions: 57
|
|
variables: 166029
|
|
- horizon: 15
|
|
result: unknown
|
|
conflicts: 901
|
|
decisions: 1005
|
|
variables: 248874
|
|
- horizon: 20
|
|
result: unknown
|
|
conflicts: 840
|
|
decisions: 975
|
|
variables: 331719
|
|
- horizon: 25
|
|
result: unknown
|
|
conflicts: 780
|
|
decisions: 973
|
|
variables: 414564
|
|
- horizon: 30
|
|
result: unknown
|
|
conflicts: 720
|
|
decisions: 928
|
|
variables: 497409
|
|
- horizon: 35
|
|
result: unknown
|
|
conflicts: 661
|
|
decisions: 921
|
|
variables: 580254
|
|
- horizon: 40
|
|
result: unknown
|
|
conflicts: 600
|
|
decisions: 873
|
|
variables: 663099
|
|
- horizon: 45
|
|
result: unknown
|
|
conflicts: 540
|
|
decisions: 776
|
|
variables: 745944
|
|
- horizon: 50
|
|
result: unknown
|
|
conflicts: 480
|
|
decisions: 748
|
|
variables: 828789
|
|
- horizon: 55
|
|
result: unknown
|
|
conflicts: 420
|
|
decisions: 663
|
|
variables: 911634
|
|
- horizon: 60
|
|
result: unknown
|
|
conflicts: 360
|
|
decisions: 651
|
|
variables: 994479
|
|
- horizon: 65
|
|
result: unknown
|
|
conflicts: 300
|
|
decisions: 530
|
|
variables: 1077324
|
|
- horizon: 70
|
|
result: unknown
|
|
conflicts: 240
|
|
decisions: 411
|
|
variables: 1160169
|
|
- horizon: 75
|
|
result: unknown
|
|
conflicts: 181
|
|
decisions: 322
|
|
variables: 1243014
|
|
- horizon: 80
|
|
result: satisfiable
|
|
conflicts: 104
|
|
decisions: 230
|
|
variables: 1325859
|
|
- horizon: 85
|
|
result: unknown
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 1408704
|
|
...
|
|
|