132 lines
4.9 KiB
Plaintext
132 lines
4.9 KiB
Plaintext
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-9.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: 54902 ground actions and 926 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 3.89 secs
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Goal: conjunctive
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Simplified: 21972 ground actions and 421 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.38 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 352 MB)
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Horizon 0: 421 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 112386 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 224351 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 336316 variables
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Allocated 32 MB (total 739 MB)
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Horizon 20: 448281 variables
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Allocated 32 MB permanent (total 983 MB)
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Horizon 25: 560246 variables
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Horizon 30: 672211 variables
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Allocated 32 MB permanent (total 1254 MB)
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Horizon 35: 784176 variables
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Allocated 32 MB permanent (total 1415 MB)
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Horizon 40: 896141 variables
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Horizon 45: 1008106 variables
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Allocated 32 MB permanent (total 1726 MB)
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Horizon 50: 1120071 variables
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Allocated 32 MB permanent (total 1907 MB)
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Horizon 55: 1232036 variables
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Allocated 32 MB permanent (total 2095 MB)
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Horizon 60: 1344001 variables
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Allocated 32 MB permanent (total 2289 MB)
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Horizon 65: 1455966 variables
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Allocated 32 MB permanent (total 2490 MB)
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Horizon 70: 1567931 variables
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SAT (318 decisions 168 conflicts)
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PLAN FOUND: 60 steps
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STEP 0: finish-object(object3,x5,y3) unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2: base-right(pr2,x1,x2,y0)
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STEP 3.0: base-right(pr2,x2,x3,y0)
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STEP 3.1: park(pr2)
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STEP 4: gripper-left(pr2,x3,y0,xrel0,xrel-1,x3,x2,yrel0,y0)
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STEP 5: gripper-right(pr2,x3,y0,xrel-1,xrel0,x2,x3,yrel0,y0)
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STEP 6: gripper-right(pr2,x3,y0,xrel0,xrel1,x3,x4,yrel0,y0)
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STEP 7: gripper-down(pr2,x3,y0,xrel1,x4,yrel0,yrel1,y0,y1)
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STEP 8: gripper-up(pr2,x3,y0,xrel1,x4,yrel1,yrel0,y1,y0)
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STEP 9: gripper-left(pr2,x3,y0,xrel1,xrel0,x4,x3,yrel0,y0)
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STEP 10: unpark(pr2,xrel0,yrel0)
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STEP 11: base-right(pr2,x3,x4,y0)
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STEP 12: base-right(pr2,x4,x5,y0)
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STEP 13.0: base-down(pr2,x5,y0,y1)
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STEP 13.1: park(pr2)
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STEP 14.0: get-down(pr2,x5,y1,xrel0,x5,yrel0,y1,object0,y2)
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STEP 14.1: gripper-left(pr2,x5,y1,xrel0,xrel-1,x5,x4,yrel0,y1)
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STEP 15.0: put-down(pr2,x5,y1,xrel-1,x4,yrel0,y1,object0,y2)
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STEP 15.1: gripper-right(pr2,x5,y1,xrel-1,xrel0,x4,x5,yrel0,y1)
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STEP 16: finish-object(object0,x4,y2) unpark(pr2,xrel0,yrel0)
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STEP 17: base-up(pr2,x5,y1,y0)
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STEP 18: base-right(pr2,x5,x6,y0)
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STEP 19: base-right(pr2,x6,x7,y0)
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STEP 20: base-down(pr2,x7,y0,y1)
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STEP 21: base-down(pr2,x7,y1,y2)
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STEP 22: base-down(pr2,x7,y2,y3)
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STEP 23: base-down(pr2,x7,y3,y4)
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STEP 24: base-down(pr2,x7,y4,y5)
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STEP 25: base-left(pr2,x7,x6,y5)
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STEP 26.0: base-left(pr2,x6,x5,y5)
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STEP 26.1: park(pr2)
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STEP 27: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
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STEP 28.0: get-down(pr2,x5,y5,xrel0,x5,yrel1,y6,object1,y7)
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STEP 28.1: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel1,y6)
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STEP 29: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel1,y6)
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STEP 30: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
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STEP 31: unpark(pr2,xrel0,yrel0)
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STEP 32: park(pr2)
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STEP 33: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5)
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STEP 34: gripper-down(pr2,x5,y5,xrel1,x6,yrel0,yrel1,y5,y6)
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STEP 35: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel1,y6)
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STEP 36: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
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STEP 37: unpark(pr2,xrel0,yrel0)
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STEP 38: base-right(pr2,x5,x6,y5)
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STEP 39.0: base-down(pr2,x6,y5,y6)
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STEP 39.1: park(pr2)
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STEP 40: gripper-right(pr2,x6,y6,xrel0,xrel1,x6,x7,yrel0,y6)
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STEP 41.0: put-down(pr2,x6,y6,xrel1,x7,yrel0,y6,object1,y7)
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STEP 41.1: gripper-left(pr2,x6,y6,xrel1,xrel0,x7,x6,yrel0,y6)
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STEP 42: finish-object(object1,x7,y7) unpark(pr2,xrel0,yrel0)
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STEP 43: base-up(pr2,x6,y6,y5)
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STEP 44: base-right(pr2,x6,x7,y5)
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STEP 45: base-up(pr2,x7,y5,y4)
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STEP 46: base-up(pr2,x7,y4,y3)
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STEP 47: base-up(pr2,x7,y3,y2)
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STEP 48: base-up(pr2,x7,y2,y1)
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STEP 49: base-up(pr2,x7,y1,y0)
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STEP 50: base-left(pr2,x7,x6,y0)
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STEP 51: base-left(pr2,x6,x5,y0)
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STEP 52: base-down(pr2,x5,y0,y1)
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STEP 53: base-down(pr2,x5,y1,y2)
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STEP 54: base-up(pr2,x5,y2,y1)
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STEP 55: base-down(pr2,x5,y1,y2)
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STEP 56.0: base-down(pr2,x5,y2,y3)
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STEP 56.1: park(pr2)
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STEP 57: get-left(pr2,x5,y3,xrel0,x5,yrel0,y3,object2,x4)
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STEP 58: put-up(pr2,x5,y3,xrel0,x5,yrel0,y3,object2,y2)
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STEP 59: finish-object(object2,x5,y2)
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72 actions in the plan.
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total time 18.48 preprocess 9.00
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total size 2.729 GB
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max. learned clause length 97451
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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 0 0
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15 -1 721 796
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20 -1 660 820
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25 -1 600 999
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30 -1 540 759
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35 -1 480 774
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40 -1 420 644
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45 -1 360 566
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50 -1 301 529
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55 -1 240 457
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60 1 168 318
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