334 lines
10 KiB
Plaintext
334 lines
10 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-16.pddlignoring --stats
|
|
ignoring --stats-iter
|
|
ignoring --verbose
|
|
-m 8192
|
|
Domain: tidybot
|
|
Problem: test
|
|
Parser: 54072 ground actions and 918 state variables
|
|
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 5.01 secs
|
|
Goal: conjunctive
|
|
Simplified: 26722 ground actions and 415 state variables
|
|
Actions: STRIPS
|
|
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.27 secs (max SCC size 10)
|
|
Plan type: E-step
|
|
Allocated 32 MB permanent (total 414 MB)
|
|
Horizon 0: 415 variables
|
|
0 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 5: 136100 variables
|
|
5 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 10: 271785 variables
|
|
10 UNSAT (0 decisions 0 conflicts)
|
|
Horizon 15: 407470 variables
|
|
Allocated 32 MB (total 811 MB)
|
|
Allocated 32 MB permanent (total 951 MB)
|
|
Horizon 20: 543155 variables
|
|
Horizon 25: 678840 variables
|
|
15 UNSAT (160 decisions 156 conflicts)
|
|
Allocated 32 MB permanent (total 1224 MB)
|
|
Horizon 30: 814525 variables
|
|
Horizon 35: 950210 variables
|
|
Allocated 32 MB permanent (total 1529 MB)
|
|
Horizon 40: 1085895 variables
|
|
Allocated 32 MB permanent (total 1710 MB)
|
|
Horizon 45: 1221580 variables
|
|
Allocated 32 MB permanent (total 1899 MB)
|
|
Horizon 50: 1357265 variables
|
|
Allocated 32 MB permanent (total 2095 MB)
|
|
Horizon 55: 1492950 variables
|
|
Allocated 32 MB permanent (total 2300 MB)
|
|
Allocated 32 MB permanent (total 2332 MB)
|
|
Horizon 60: 1628635 variables
|
|
Allocated 32 MB permanent (total 2544 MB)
|
|
Horizon 65: 1764320 variables
|
|
Allocated 32 MB permanent (total 2765 MB)
|
|
Horizon 70: 1900005 variables
|
|
Allocated 32 MB permanent (total 2994 MB)
|
|
Allocated 32 MB permanent (total 3026 MB)
|
|
Horizon 75: 2035690 variables
|
|
Allocated 32 MB permanent (total 3263 MB)
|
|
Allocated 32 MB permanent (total 3295 MB)
|
|
Horizon 80: 2171375 variables
|
|
Allocated 32 MB (total 3327 MB)
|
|
Allocated 32 MB permanent (total 3571 MB)
|
|
Horizon 85: 2307060 variables
|
|
Allocated 32 MB permanent (total 3824 MB)
|
|
Allocated 32 MB permanent (total 3856 MB)
|
|
Horizon 90: 2442745 variables
|
|
Allocated 32 MB permanent (total 4117 MB)
|
|
Allocated 32 MB permanent (total 4149 MB)
|
|
Horizon 95: 2578430 variables
|
|
Allocated 32 MB permanent (total 4418 MB)
|
|
Allocated 32 MB permanent (total 4450 MB)
|
|
Horizon 100: 2714115 variables
|
|
Allocated 32 MB permanent (total 4727 MB)
|
|
Allocated 32 MB permanent (total 4759 MB)
|
|
Allocated 32 MB permanent (total 4791 MB)
|
|
Horizon 105: 2849800 variables
|
|
Allocated 32 MB permanent (total 5075 MB)
|
|
Allocated 32 MB permanent (total 5107 MB)
|
|
Horizon 110: 2985485 variables
|
|
Allocated 32 MB (total 5139 MB)
|
|
Allocated 32 MB permanent (total 5432 MB)
|
|
Allocated 32 MB permanent (total 5464 MB)
|
|
Horizon 115: 3121170 variables
|
|
Allocated 32 MB (total 5496 MB)
|
|
Allocated 32 MB (total 5528 MB)
|
|
Allocated 32 MB (total 5560 MB)
|
|
GC: 125.99 MB
|
|
SAT (19 ID 984 decisions 576 conflicts 2578430 variables)
|
|
PLAN FOUND: 95 steps
|
|
STEP 0: unpark(pr2,xrel0,yrel0)
|
|
STEP 1: base-right(pr2,x0,x1,y0)
|
|
STEP 2: base-right(pr2,x1,x2,y0)
|
|
STEP 3: base-left(pr2,x2,x1,y0)
|
|
STEP 4: base-down(pr2,x1,y0,y1)
|
|
STEP 5: base-right(pr2,x1,x2,y1)
|
|
STEP 6: base-down(pr2,x2,y1,y2)
|
|
STEP 7: base-up(pr2,x2,y2,y1)
|
|
STEP 8: base-left(pr2,x2,x1,y1)
|
|
STEP 9: grasp-cart-left(pr2,cart,x1,y1,x0)
|
|
STEP 10.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
|
|
STEP 10.1: ungrasp-cart(pr2,cart)
|
|
STEP 11.0: base-right(pr2,x1,x2,y0)
|
|
STEP 11.1: park(pr2)
|
|
STEP 12: gripper-down(pr2,x2,y0,xrel0,x2,yrel0,yrel1,y0,y1)
|
|
STEP 13: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel1,y1)
|
|
STEP 14: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0)
|
|
STEP 15: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
|
|
STEP 16: unpark(pr2,xrel0,yrel0)
|
|
STEP 17.0: base-down(pr2,x2,y0,y1)
|
|
STEP 17.1: park(pr2)
|
|
STEP 18: gripper-left(pr2,x2,y1,xrel0,xrel-1,x2,x1,yrel0,y1)
|
|
STEP 19: gripper-right(pr2,x2,y1,xrel-1,xrel0,x1,x2,yrel0,y1)
|
|
STEP 20: unpark(pr2,xrel0,yrel0)
|
|
STEP 21: base-right(pr2,x2,x3,y1)
|
|
STEP 22: base-right(pr2,x3,x4,y1)
|
|
STEP 23: base-right(pr2,x4,x5,y1)
|
|
STEP 24: base-down(pr2,x5,y1,y2)
|
|
STEP 25: base-down(pr2,x5,y2,y3)
|
|
STEP 26: base-down(pr2,x5,y3,y4)
|
|
STEP 27: base-down(pr2,x5,y4,y5)
|
|
STEP 28: base-down(pr2,x5,y5,y6)
|
|
STEP 29: base-left(pr2,x5,x4,y6)
|
|
STEP 30: base-right(pr2,x4,x5,y6)
|
|
STEP 31: base-up(pr2,x5,y6,y5)
|
|
STEP 32: base-up(pr2,x5,y5,y4)
|
|
STEP 33: base-up(pr2,x5,y4,y3)
|
|
STEP 34: base-up(pr2,x5,y3,y2)
|
|
STEP 35: base-down(pr2,x5,y2,y3)
|
|
STEP 36: base-down(pr2,x5,y3,y4)
|
|
STEP 37: base-down(pr2,x5,y4,y5)
|
|
STEP 38.0: base-down(pr2,x5,y5,y6)
|
|
STEP 38.1: park(pr2)
|
|
STEP 39: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
|
|
STEP 40: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7)
|
|
STEP 41.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3)
|
|
STEP 41.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7)
|
|
STEP 42: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
|
|
STEP 43: unpark(pr2,xrel0,yrel0)
|
|
STEP 44: base-up(pr2,x5,y6,y5)
|
|
STEP 45: base-up(pr2,x5,y5,y4)
|
|
STEP 46: base-up(pr2,x5,y4,y3)
|
|
STEP 47: base-up(pr2,x5,y3,y2)
|
|
STEP 48: base-up(pr2,x5,y2,y1)
|
|
STEP 49: base-left(pr2,x5,x4,y1)
|
|
STEP 50: base-left(pr2,x4,x3,y1)
|
|
STEP 51: base-left(pr2,x3,x2,y1)
|
|
STEP 52.0: base-down(pr2,x2,y1,y2)
|
|
STEP 52.1: park(pr2)
|
|
STEP 53.0: put-down(pr2,x2,y2,xrel0,x2,yrel0,y2,object0,y3)
|
|
STEP 53.1: unpark(pr2,xrel0,yrel0)
|
|
STEP 54: base-down(pr2,x2,y2,y3) finish-object(object0,x2,y3)
|
|
STEP 55.0: base-down(pr2,x2,y3,y4)
|
|
STEP 55.1: park(pr2)
|
|
STEP 56.0: get-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object1,x3)
|
|
STEP 56.1: unpark(pr2,xrel0,yrel0)
|
|
STEP 57: base-up(pr2,x2,y4,y3)
|
|
STEP 58.0: base-down(pr2,x2,y3,y4)
|
|
STEP 58.1: park(pr2)
|
|
STEP 59: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4)
|
|
STEP 60: put-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object1,x2)
|
|
STEP 61: finish-object(object1,x2,y4) get-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,x2)
|
|
STEP 62: put-up(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,y3)
|
|
STEP 63: finish-object(object2,x3,y3) gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4)
|
|
STEP 64: unpark(pr2,xrel0,yrel0)
|
|
STEP 65: base-up(pr2,x2,y4,y3)
|
|
STEP 66: base-up(pr2,x2,y3,y2)
|
|
STEP 67: base-up(pr2,x2,y2,y1)
|
|
STEP 68: base-right(pr2,x2,x3,y1)
|
|
STEP 69: base-right(pr2,x3,x4,y1)
|
|
STEP 70.0: base-right(pr2,x4,x5,y1)
|
|
STEP 70.1: park(pr2)
|
|
STEP 71: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2)
|
|
STEP 72: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1)
|
|
STEP 73: unpark(pr2,xrel0,yrel0)
|
|
STEP 74: base-left(pr2,x5,x4,y1)
|
|
STEP 75: base-left(pr2,x4,x3,y1)
|
|
STEP 76: base-right(pr2,x3,x4,y1)
|
|
STEP 77.0: base-right(pr2,x4,x5,y1)
|
|
STEP 77.1: park(pr2)
|
|
STEP 78: gripper-right(pr2,x5,y1,xrel0,xrel1,x5,x6,yrel0,y1)
|
|
STEP 79: gripper-left(pr2,x5,y1,xrel1,xrel0,x6,x5,yrel0,y1)
|
|
STEP 80: unpark(pr2,xrel0,yrel0)
|
|
STEP 81.0: base-right(pr2,x5,x6,y1)
|
|
STEP 81.1: park(pr2)
|
|
STEP 82: gripper-right(pr2,x6,y1,xrel0,xrel1,x6,x7,yrel0,y1)
|
|
STEP 83: gripper-down(pr2,x6,y1,xrel1,x7,yrel0,yrel1,y1,y2)
|
|
STEP 84.0: get-down(pr2,x6,y1,xrel1,x7,yrel1,y2,object3,y3)
|
|
STEP 84.1: gripper-up(pr2,x6,y1,xrel1,x7,yrel1,yrel0,y2,y1)
|
|
STEP 85: gripper-left(pr2,x6,y1,xrel1,xrel0,x7,x6,yrel0,y1)
|
|
STEP 86: unpark(pr2,xrel0,yrel0)
|
|
STEP 87: base-left(pr2,x6,x5,y1)
|
|
STEP 88: base-left(pr2,x5,x4,y1)
|
|
STEP 89: base-left(pr2,x4,x3,y1)
|
|
STEP 90: base-down(pr2,x3,y1,y2)
|
|
STEP 91.0: base-down(pr2,x3,y2,y3)
|
|
STEP 91.1: park(pr2)
|
|
STEP 92: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4)
|
|
STEP 93: finish-object(object3,x3,y4)
|
|
112 actions in the plan.
|
|
|
|
|
|
# statistics in YAML format
|
|
---
|
|
runtime:
|
|
total: 92.02 # [s]
|
|
preprocessing: 12.17 # [s]
|
|
maxLearnedClauseLength: 147416
|
|
groundActions:
|
|
afterParsing: 54072
|
|
afterPreprocessing: 26722
|
|
stateVariables:
|
|
afterParsing: 918
|
|
afterPreprocessing: 415
|
|
stronglyConnectedComponents:
|
|
maxSize: 10
|
|
plan:
|
|
found: true
|
|
length: 95
|
|
actions: 112
|
|
iterations:
|
|
- horizon: 0
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 415
|
|
- horizon: 5
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 136100
|
|
- horizon: 10
|
|
result: unsatisfiable
|
|
conflicts: 0
|
|
decisions: 0
|
|
variables: 271785
|
|
- horizon: 15
|
|
result: unsatisfiable
|
|
conflicts: 156
|
|
decisions: 160
|
|
variables: 407470
|
|
- horizon: 20
|
|
result: unknown
|
|
conflicts: 2521
|
|
decisions: 2749
|
|
variables: 543155
|
|
- horizon: 25
|
|
result: unknown
|
|
conflicts: 2340
|
|
decisions: 2690
|
|
variables: 678840
|
|
- horizon: 30
|
|
result: unknown
|
|
conflicts: 2102
|
|
decisions: 2579
|
|
variables: 814525
|
|
- horizon: 35
|
|
result: unknown
|
|
conflicts: 1920
|
|
decisions: 2497
|
|
variables: 950210
|
|
- horizon: 40
|
|
result: unknown
|
|
conflicts: 1743
|
|
decisions: 2258
|
|
variables: 1085895
|
|
- horizon: 45
|
|
result: unknown
|
|
conflicts: 1561
|
|
decisions: 2283
|
|
variables: 1221580
|
|
- horizon: 50
|
|
result: unknown
|
|
conflicts: 1381
|
|
decisions: 1963
|
|
variables: 1357265
|
|
- horizon: 55
|
|
result: unknown
|
|
conflicts: 1260
|
|
decisions: 1850
|
|
variables: 1492950
|
|
- horizon: 60
|
|
result: unknown
|
|
conflicts: 1142
|
|
decisions: 1774
|
|
variables: 1628635
|
|
- horizon: 65
|
|
result: unknown
|
|
conflicts: 1022
|
|
decisions: 1606
|
|
variables: 1764320
|
|
- horizon: 70
|
|
result: unknown
|
|
conflicts: 960
|
|
decisions: 1512
|
|
variables: 1900005
|
|
- horizon: 75
|
|
result: unknown
|
|
conflicts: 840
|
|
decisions: 1365
|
|
variables: 2035690
|
|
- horizon: 80
|
|
result: unknown
|
|
conflicts: 780
|
|
decisions: 1237
|
|
variables: 2171375
|
|
- horizon: 85
|
|
result: unknown
|
|
conflicts: 723
|
|
decisions: 1149
|
|
variables: 2307060
|
|
- horizon: 90
|
|
result: unknown
|
|
conflicts: 660
|
|
decisions: 1146
|
|
variables: 2442745
|
|
- horizon: 95
|
|
result: satisfiable
|
|
conflicts: 576
|
|
decisions: 984
|
|
variables: 2578430
|
|
- horizon: 100
|
|
result: unknown
|
|
conflicts: 540
|
|
decisions: 993
|
|
variables: 2714115
|
|
- horizon: 105
|
|
result: unknown
|
|
conflicts: 481
|
|
decisions: 860
|
|
variables: 2849800
|
|
- horizon: 110
|
|
result: unknown
|
|
conflicts: 420
|
|
decisions: 706
|
|
variables: 2985485
|
|
- horizon: 115
|
|
result: unknown
|
|
conflicts: 420
|
|
decisions: 699
|
|
variables: 3121170
|
|
...
|
|
|