339 lines
10 KiB
Plaintext
339 lines
10 KiB
Plaintext
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Madagascar 0.99999 31/01/2018 20:14:07 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-18.pddlignoring --stats
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ignoring --stats-iter
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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: 75377 ground actions and 1099 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 10.74 secs
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Goal: conjunctive
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Simplified: 36707 ground actions and 503 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 11.82 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 565 MB)
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Horizon 0: 503 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 186553 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 372603 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 558653 variables
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Allocated 32 MB (total 984 MB)
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Allocated 32 MB permanent (total 1137 MB)
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Horizon 20: 744703 variables
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Allocated 32 MB permanent (total 1300 MB)
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Horizon 25: 930753 variables
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Allocated 32 MB permanent (total 1475 MB)
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Horizon 30: 1116803 variables
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Allocated 32 MB permanent (total 1660 MB)
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Horizon 35: 1302853 variables
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Allocated 32 MB permanent (total 1856 MB)
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Horizon 40: 1488903 variables
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Allocated 32 MB permanent (total 2064 MB)
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Horizon 45: 1674953 variables
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Allocated 32 MB permanent (total 2282 MB)
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Horizon 50: 1861003 variables
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Allocated 32 MB permanent (total 2511 MB)
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Allocated 32 MB permanent (total 2543 MB)
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Horizon 55: 2047053 variables
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Allocated 32 MB permanent (total 2784 MB)
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Allocated 32 MB permanent (total 2816 MB)
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Horizon 60: 2233103 variables
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Allocated 32 MB permanent (total 3067 MB)
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Allocated 32 MB permanent (total 3099 MB)
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Horizon 65: 2419153 variables
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Allocated 32 MB permanent (total 3362 MB)
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Allocated 32 MB permanent (total 3394 MB)
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Horizon 70: 2605203 variables
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Allocated 32 MB permanent (total 3667 MB)
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Allocated 32 MB permanent (total 3699 MB)
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Horizon 75: 2791253 variables
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Allocated 32 MB permanent (total 3983 MB)
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Allocated 32 MB permanent (total 4015 MB)
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Horizon 80: 2977303 variables
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Allocated 32 MB (total 4047 MB)
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Allocated 32 MB permanent (total 4343 MB)
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Allocated 32 MB permanent (total 4375 MB)
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Allocated 32 MB permanent (total 4407 MB)
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Horizon 85: 3163353 variables
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Allocated 32 MB permanent (total 4713 MB)
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Allocated 32 MB permanent (total 4745 MB)
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Horizon 90: 3349403 variables
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Allocated 32 MB permanent (total 5062 MB)
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Allocated 32 MB permanent (total 5094 MB)
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Allocated 32 MB permanent (total 5126 MB)
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Horizon 95: 3535453 variables
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Allocated 32 MB permanent (total 5455 MB)
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Allocated 32 MB permanent (total 5487 MB)
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Allocated 32 MB permanent (total 5519 MB)
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Horizon 100: 3721503 variables
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Allocated 32 MB (total 5551 MB)
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Allocated 32 MB permanent (total 5890 MB)
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Allocated 32 MB permanent (total 5922 MB)
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Allocated 32 MB permanent (total 5954 MB)
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Horizon 105: 3907553 variables
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Allocated 32 MB permanent (total 6305 MB)
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Allocated 32 MB permanent (total 6337 MB)
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Allocated 32 MB permanent (total 6369 MB)
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Horizon 110: 4093603 variables
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15 UNSAT (1862 decisions 1374 conflicts)
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Allocated 32 MB permanent (total 6730 MB)
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Allocated 32 MB permanent (total 6762 MB)
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Allocated 32 MB permanent (total 6794 MB)
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Allocated 32 MB permanent (total 6826 MB)
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Horizon 115: 4279653 variables
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Allocated 32 MB (total 6858 MB)
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Allocated 32 MB (total 6890 MB)
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Allocated 32 MB (total 6922 MB)
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GC: 146.37 MB
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Allocated 32 MB (total 6954 MB)
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Allocated 32 MB (total 6986 MB)
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Allocated 32 MB (total 7018 MB)
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Allocated 32 MB (total 7050 MB)
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SAT (18 ID 1846 decisions 1001 conflicts 3349403 variables)
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PLAN FOUND: 90 steps
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STEP 0: finish-object(object0,x1,y2) 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: base-right(pr2,x2,x3,y0)
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STEP 4: base-down(pr2,x3,y0,y1)
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STEP 5: base-down(pr2,x3,y1,y2)
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STEP 6: base-down(pr2,x3,y2,y3)
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STEP 7: base-down(pr2,x3,y3,y4)
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STEP 8.0: base-down(pr2,x3,y4,y5)
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STEP 8.1: park(pr2)
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STEP 9.0: get-down(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y6)
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STEP 9.1: unpark(pr2,xrel0,yrel0)
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STEP 10: base-up(pr2,x3,y5,y4)
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STEP 11: base-up(pr2,x3,y4,y3)
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STEP 12: base-up(pr2,x3,y3,y2)
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STEP 13: base-right(pr2,x3,x4,y2)
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STEP 14: base-right(pr2,x4,x5,y2)
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STEP 15: base-right(pr2,x5,x6,y2)
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STEP 16: base-down(pr2,x6,y2,y3)
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STEP 17.0: base-down(pr2,x6,y3,y4)
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STEP 17.1: park(pr2)
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STEP 18.0: put-down(pr2,x6,y4,xrel0,x6,yrel0,y4,object1,y5)
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STEP 18.1: unpark(pr2,xrel0,yrel0)
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STEP 19.0: base-right(pr2,x6,x7,y4) finish-object(object1,x6,y5)
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STEP 19.1: park(pr2)
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STEP 20: unpark(pr2,xrel0,yrel0)
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STEP 21: base-down(pr2,x7,y4,y5)
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STEP 22: base-up(pr2,x7,y5,y4)
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STEP 23: base-up(pr2,x7,y4,y3)
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STEP 24: base-left(pr2,x7,x6,y3)
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STEP 25: base-up(pr2,x6,y3,y2)
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STEP 26: base-left(pr2,x6,x5,y2)
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STEP 27.0: base-left(pr2,x5,x4,y2)
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STEP 27.1: park(pr2)
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STEP 28: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2)
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STEP 29.0: get-left(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,x2)
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STEP 29.1: gripper-right(pr2,x4,y2,xrel-1,xrel0,x3,x4,yrel0,y2)
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STEP 30: unpark(pr2,xrel0,yrel0)
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STEP 31: base-left(pr2,x4,x3,y2)
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STEP 32.0: base-right(pr2,x3,x4,y2)
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STEP 32.1: park(pr2)
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STEP 33: gripper-right(pr2,x4,y2,xrel0,xrel1,x4,x5,yrel0,y2)
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STEP 34: gripper-left(pr2,x4,y2,xrel1,xrel0,x5,x4,yrel0,y2)
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STEP 35: unpark(pr2,xrel0,yrel0)
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STEP 36.0: base-right(pr2,x4,x5,y2)
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STEP 36.1: park(pr2)
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STEP 37: unpark(pr2,xrel0,yrel0)
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STEP 38.0: base-right(pr2,x5,x6,y2)
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STEP 38.1: park(pr2)
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STEP 39: gripper-right(pr2,x6,y2,xrel0,xrel1,x6,x7,yrel0,y2)
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STEP 40: gripper-down(pr2,x6,y2,xrel1,x7,yrel0,yrel1,y2,y3)
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STEP 41.0: put-down(pr2,x6,y2,xrel1,x7,yrel1,y3,object2,y4)
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STEP 41.1: gripper-up(pr2,x6,y2,xrel1,x7,yrel1,yrel0,y3,y2)
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STEP 42: finish-object(object2,x7,y4) gripper-left(pr2,x6,y2,xrel1,xrel0,x7,x6,yrel0,y2)
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STEP 43: unpark(pr2,xrel0,yrel0)
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STEP 44: base-down(pr2,x6,y2,y3)
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STEP 45: base-down(pr2,x6,y3,y4)
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STEP 46: base-up(pr2,x6,y4,y3)
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STEP 47: base-up(pr2,x6,y3,y2)
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STEP 48: base-left(pr2,x6,x5,y2)
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STEP 49: base-left(pr2,x5,x4,y2)
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STEP 50: base-down(pr2,x4,y2,y3)
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STEP 51: base-up(pr2,x4,y3,y2)
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STEP 52: base-right(pr2,x4,x5,y2)
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STEP 53: base-right(pr2,x5,x6,y2)
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STEP 54: base-right(pr2,x6,x7,y2)
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STEP 55: base-down(pr2,x7,y2,y3)
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STEP 56: base-down(pr2,x7,y3,y4)
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STEP 57: base-up(pr2,x7,y4,y3)
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STEP 58: base-left(pr2,x7,x6,y3)
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STEP 59: base-up(pr2,x6,y3,y2)
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STEP 60: base-left(pr2,x6,x5,y2)
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STEP 61: base-left(pr2,x5,x4,y2)
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STEP 62: base-down(pr2,x4,y2,y3)
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STEP 63: base-down(pr2,x4,y3,y4)
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STEP 64.0: base-down(pr2,x4,y4,y5)
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STEP 64.1: park(pr2)
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STEP 65: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
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STEP 66: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel1,y6)
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STEP 67.0: get-left(pr2,x4,y5,xrel-1,x3,yrel1,y6,object3,x2)
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STEP 67.1: gripper-up(pr2,x4,y5,xrel-1,x3,yrel1,yrel0,y6,y5)
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STEP 68: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
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STEP 69: unpark(pr2,xrel0,yrel0)
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STEP 70: base-up(pr2,x4,y5,y4)
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STEP 71: base-up(pr2,x4,y4,y3)
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STEP 72: base-up(pr2,x4,y3,y2)
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STEP 73: base-right(pr2,x4,x5,y2)
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STEP 74: base-right(pr2,x5,x6,y2)
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STEP 75.0: base-down(pr2,x6,y2,y3)
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STEP 75.1: park(pr2)
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STEP 76: gripper-right(pr2,x6,y3,xrel0,xrel1,x6,x7,yrel0,y3)
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STEP 77: gripper-left(pr2,x6,y3,xrel1,xrel0,x7,x6,yrel0,y3)
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STEP 78: unpark(pr2,xrel0,yrel0)
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STEP 79: base-down(pr2,x6,y3,y4)
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STEP 80.0: base-right(pr2,x6,x7,y4)
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STEP 80.1: park(pr2)
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STEP 81: put-down(pr2,x7,y4,xrel0,x7,yrel0,y4,object3,y5)
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STEP 82: finish-object(object3,x7,y5)
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101 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: 175.29 # [s]
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preprocessing: 23.96 # [s]
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maxLearnedClauseLength: 244189
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groundActions:
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afterParsing: 75377
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afterPreprocessing: 36707
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stateVariables:
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afterParsing: 1099
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afterPreprocessing: 503
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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: 90
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actions: 101
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iterations:
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- horizon: 0
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 503
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- horizon: 5
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 186553
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- horizon: 10
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 372603
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- horizon: 15
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result: unsatisfiable
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conflicts: 1374
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decisions: 1862
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variables: 558653
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- horizon: 20
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result: unknown
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conflicts: 4085
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decisions: 4940
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variables: 744703
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- horizon: 25
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result: unknown
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conflicts: 3720
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decisions: 4618
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variables: 930753
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- horizon: 30
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result: unknown
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conflicts: 3360
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decisions: 4550
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variables: 1116803
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- horizon: 35
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result: unknown
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conflicts: 3065
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decisions: 4446
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variables: 1302853
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- horizon: 40
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result: unknown
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conflicts: 2761
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decisions: 4134
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variables: 1488903
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- horizon: 45
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result: unknown
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conflicts: 2465
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decisions: 3826
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variables: 1674953
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- horizon: 50
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result: unknown
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|
conflicts: 2221
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|
decisions: 3575
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variables: 1861003
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- horizon: 55
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result: unknown
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conflicts: 2043
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decisions: 3342
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variables: 2047053
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- horizon: 60
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result: unknown
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conflicts: 1803
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decisions: 3119
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variables: 2233103
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- horizon: 65
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result: unknown
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conflicts: 1622
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decisions: 2772
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variables: 2419153
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- horizon: 70
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result: unknown
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conflicts: 1502
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decisions: 2773
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variables: 2605203
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- horizon: 75
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result: unknown
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conflicts: 1320
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decisions: 2327
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variables: 2791253
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- horizon: 80
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result: unknown
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conflicts: 1200
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decisions: 2237
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variables: 2977303
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- horizon: 85
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result: unknown
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conflicts: 1081
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decisions: 1849
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variables: 3163353
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- horizon: 90
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result: satisfiable
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conflicts: 1001
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||
|
|
decisions: 1846
|
||
|
|
variables: 3349403
|
||
|
|
- horizon: 95
|
||
|
|
result: unknown
|
||
|
|
conflicts: 901
|
||
|
|
decisions: 1696
|
||
|
|
variables: 3535453
|
||
|
|
- horizon: 100
|
||
|
|
result: unknown
|
||
|
|
conflicts: 780
|
||
|
|
decisions: 1542
|
||
|
|
variables: 3721503
|
||
|
|
- horizon: 105
|
||
|
|
result: unknown
|
||
|
|
conflicts: 721
|
||
|
|
decisions: 1303
|
||
|
|
variables: 3907553
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 661
|
||
|
|
decisions: 1375
|
||
|
|
variables: 4093603
|
||
|
|
- horizon: 115
|
||
|
|
result: unknown
|
||
|
|
conflicts: 600
|
||
|
|
decisions: 1102
|
||
|
|
variables: 4279653
|
||
|
|
...
|
||
|
|
|