120 lines
4.6 KiB
Plaintext
120 lines
4.6 KiB
Plaintext
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Madagascar 0.99999 01/02/2018 14:46:04 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-10.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 60 -T 60
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Domain: tidybot
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Problem: test
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Parser: 54878 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 18 4.85 secs
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Goal: conjunctive
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Simplified: 21539 ground actions and 419 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.47 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 347 MB)
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Horizon 60: 1317899 variables
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Allocated 32 MB (total 543 MB)
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Allocated 32 MB (total 575 MB)
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SAT (0 ID 2335 decisions 1467 conflicts 1317899 variables)
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PLAN FOUND: 60 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2.0: base-right(pr2,x1,x2,y0)
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STEP 2.1: park(pr2)
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STEP 3: unpark(pr2,xrel0,yrel0)
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STEP 4: base-down(pr2,x2,y0,y1)
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STEP 5: base-down(pr2,x2,y1,y2)
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STEP 6.0: base-down(pr2,x2,y2,y3)
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STEP 6.1: park(pr2)
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STEP 7: gripper-right(pr2,x2,y3,xrel0,xrel1,x2,x3,yrel0,y3)
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STEP 8: gripper-left(pr2,x2,y3,xrel1,xrel0,x3,x2,yrel0,y3)
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STEP 9: unpark(pr2,xrel0,yrel0)
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STEP 10: base-right(pr2,x2,x3,y3)
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STEP 11: base-right(pr2,x3,x4,y3)
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STEP 12: base-right(pr2,x4,x5,y3)
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STEP 13: base-right(pr2,x5,x6,y3)
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STEP 14: base-down(pr2,x6,y3,y4)
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STEP 15.0: base-down(pr2,x6,y4,y5)
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STEP 15.1: park(pr2)
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STEP 16: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6)
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STEP 17: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5)
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STEP 18: unpark(pr2,xrel0,yrel0)
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STEP 19: base-down(pr2,x6,y5,y6)
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STEP 20.0: base-left(pr2,x6,x5,y6)
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STEP 20.1: park(pr2)
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STEP 21: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
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STEP 22.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3)
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STEP 22.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5)
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STEP 23.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3)
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STEP 23.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6)
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STEP 24: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
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STEP 25: unpark(pr2,xrel0,yrel0)
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STEP 26: base-left(pr2,x5,x4,y6)
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STEP 27.0: base-right(pr2,x4,x5,y6)
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STEP 27.1: park(pr2)
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STEP 28: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6)
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STEP 29.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7)
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STEP 29.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6)
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STEP 30: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
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STEP 31.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3)
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STEP 31.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
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STEP 32: finish-object(object1,x3,y6) gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
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STEP 33: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
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STEP 34: unpark(pr2,xrel0,yrel0)
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STEP 35: base-up(pr2,x5,y6,y5)
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STEP 36: base-right(pr2,x5,x6,y5)
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STEP 37.0: base-up(pr2,x6,y5,y4)
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STEP 37.1: park(pr2)
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STEP 38: gripper-up(pr2,x6,y4,xrel0,x6,yrel0,yrel-1,y4,y3)
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STEP 39: gripper-down(pr2,x6,y4,xrel0,x6,yrel-1,yrel0,y3,y4)
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STEP 40: unpark(pr2,xrel0,yrel0)
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STEP 41: base-up(pr2,x6,y4,y3)
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STEP 42: base-left(pr2,x6,x5,y3)
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STEP 43.0: base-left(pr2,x5,x4,y3)
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STEP 43.1: park(pr2)
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STEP 44.0: get-up(pr2,x4,y3,xrel0,x4,yrel0,y3,object2,y2)
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STEP 44.1: unpark(pr2,xrel0,yrel0)
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STEP 45: base-right(pr2,x4,x5,y3)
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STEP 46.0: base-right(pr2,x5,x6,y3)
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STEP 46.1: park(pr2)
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STEP 47.0: put-right(pr2,x6,y3,xrel0,x6,yrel0,y3,object2,x7)
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STEP 47.1: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
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STEP 48: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2)
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STEP 49: get-up(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object3,y1)
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STEP 50.0: put-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object3,x4)
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STEP 50.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2)
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STEP 51: finish-object(object3,x4,y2) gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3)
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STEP 52.0: get-right(pr2,x6,y3,xrel0,x6,yrel0,y3,object2,x7)
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STEP 52.1: unpark(pr2,xrel0,yrel0)
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STEP 53: base-down(pr2,x6,y3,y4)
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STEP 54.0: base-down(pr2,x6,y4,y5)
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STEP 54.1: park(pr2)
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STEP 55: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
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STEP 56: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4)
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STEP 57: finish-object(object2,x4,y5)
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78 actions in the plan.
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# statistics in YAML format
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---
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runtime:
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total: 17.07 # [s]
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preprocessing: 10.07 # [s]
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maxLearnedClauseLength: 192464
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groundActions:
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afterParsing: 54878
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afterPreprocessing: 21539
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stateVariables:
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afterParsing: 926
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afterPreprocessing: 419
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stronglyConnectedComponents:
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maxSize: 10
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plan:
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found: true
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length: 60
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actions: 78
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iterations:
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...
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