403 lines
12 KiB
Plaintext
403 lines
12 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-6.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: 38501 ground actions and 762 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 2.38 secs
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Goal: conjunctive
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Simplified: 13826 ground actions and 340 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.75 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 251 MB)
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Horizon 0: 340 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 71170 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 142000 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 212830 variables
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Allocated 32 MB (total 620 MB)
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15 UNSAT (56 decisions 56 conflicts)
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Horizon 20: 283660 variables
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Horizon 25: 354490 variables
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Allocated 32 MB permanent (total 944 MB)
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Horizon 30: 425320 variables
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Horizon 35: 496150 variables
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Horizon 40: 566980 variables
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Allocated 32 MB permanent (total 1305 MB)
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Horizon 45: 637810 variables
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Horizon 50: 708640 variables
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Allocated 32 MB permanent (total 1578 MB)
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Horizon 55: 779470 variables
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Allocated 32 MB (total 1610 MB)
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Allocated 32 MB permanent (total 1769 MB)
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Horizon 60: 850300 variables
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Horizon 65: 921130 variables
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Allocated 32 MB (total 1931 MB)
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Allocated 32 MB permanent (total 2098 MB)
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Horizon 70: 991960 variables
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Allocated 32 MB permanent (total 2270 MB)
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Horizon 75: 1062790 variables
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Horizon 80: 1133620 variables
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Allocated 32 MB (total 2445 MB)
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Allocated 32 MB permanent (total 2625 MB)
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Horizon 85: 1204450 variables
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Allocated 32 MB (total 2657 MB)
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Allocated 32 MB permanent (total 2840 MB)
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Horizon 90: 1275280 variables
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Allocated 32 MB (total 2872 MB)
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Allocated 32 MB permanent (total 3060 MB)
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Horizon 95: 1346110 variables
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Allocated 32 MB permanent (total 3252 MB)
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Horizon 100: 1416940 variables
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Allocated 32 MB permanent (total 3449 MB)
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Horizon 105: 1487770 variables
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Allocated 32 MB (total 3481 MB)
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Allocated 32 MB (total 3513 MB)
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Allocated 32 MB permanent (total 3713 MB)
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Horizon 110: 1558600 variables
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Allocated 32 MB permanent (total 3918 MB)
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Allocated 32 MB permanent (total 3950 MB)
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Horizon 115: 1629430 variables
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Allocated 32 MB (total 3982 MB)
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Allocated 32 MB (total 4014 MB)
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20 UNSAT (1397 decisions 1287 conflicts)
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Allocated 32 MB permanent (total 4223 MB)
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Horizon 120: 1700260 variables
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Allocated 32 MB (total 4255 MB)
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Allocated 32 MB (total 4287 MB)
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Allocated 32 MB (total 4319 MB)
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Allocated 32 MB (total 4351 MB)
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Allocated 32 MB (total 4383 MB)
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Allocated 32 MB (total 4415 MB)
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Allocated 32 MB (total 4447 MB)
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Allocated 32 MB (total 4479 MB)
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GC: 439.33 MB
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Allocated 32 MB (total 4511 MB)
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Allocated 32 MB (total 4543 MB)
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Allocated 32 MB (total 4575 MB)
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Allocated 32 MB (total 4607 MB)
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Allocated 32 MB (total 4639 MB)
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Allocated 32 MB (total 4671 MB)
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Allocated 32 MB (total 4703 MB)
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Allocated 32 MB (total 4735 MB)
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Allocated 32 MB (total 4767 MB)
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Allocated 32 MB (total 4799 MB)
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Allocated 32 MB (total 4831 MB)
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Allocated 32 MB (total 4863 MB)
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Allocated 32 MB (total 4895 MB)
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GC: 584.67 MB
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Allocated 32 MB (total 4927 MB)
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Allocated 32 MB (total 4959 MB)
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Allocated 32 MB (total 4991 MB)
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Allocated 32 MB (total 5023 MB)
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Allocated 32 MB (total 5055 MB)
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Allocated 32 MB (total 5087 MB)
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Allocated 32 MB (total 5119 MB)
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Allocated 32 MB (total 5151 MB)
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Allocated 32 MB (total 5183 MB)
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Allocated 32 MB (total 5215 MB)
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Allocated 32 MB (total 5247 MB)
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Allocated 32 MB (total 5279 MB)
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Allocated 32 MB (total 5311 MB)
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Allocated 32 MB (total 5343 MB)
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Allocated 32 MB (total 5375 MB)
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Allocated 32 MB (total 5407 MB)
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Allocated 32 MB (total 5439 MB)
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GC: 1025.10 MB
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25 UNSAT (7983 decisions 7053 conflicts)
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Allocated 32 MB permanent (total 5652 MB)
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Horizon 125: 1771090 variables
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SAT (23 ID 2598 decisions 1311 conflicts 1629430 variables)
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PLAN FOUND: 115 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: base-right(pr2,x1,x2,y0)
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STEP 3: base-down(pr2,x2,y0,y1)
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STEP 4: base-down(pr2,x2,y1,y2)
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STEP 5: base-up(pr2,x2,y2,y1)
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STEP 6: base-up(pr2,x2,y1,y0)
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STEP 7.0: base-right(pr2,x2,x3,y0)
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STEP 7.1: park(pr2)
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STEP 8: gripper-right(pr2,x3,y0,xrel0,xrel1,x3,x4,yrel0,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-left(pr2,x3,x2,y0)
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STEP 12: base-down(pr2,x2,y0,y1)
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STEP 13: base-down(pr2,x2,y1,y2)
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STEP 14.0: base-down(pr2,x2,y2,y3)
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STEP 14.1: park(pr2)
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STEP 15: gripper-left(pr2,x2,y3,xrel0,xrel-1,x2,x1,yrel0,y3)
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STEP 16.0: get-down(pr2,x2,y3,xrel-1,x1,yrel0,y3,object2,y4)
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STEP 16.1: gripper-right(pr2,x2,y3,xrel-1,xrel0,x1,x2,yrel0,y3)
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STEP 17.0: put-left(pr2,x2,y3,xrel0,x2,yrel0,y3,object2,x1)
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STEP 17.1: unpark(pr2,xrel0,yrel0)
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STEP 18: base-up(pr2,x2,y3,y2)
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STEP 19: base-up(pr2,x2,y2,y1)
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STEP 20: base-up(pr2,x2,y1,y0)
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STEP 21: base-right(pr2,x2,x3,y0)
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STEP 22: base-right(pr2,x3,x4,y0)
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STEP 23.0: base-down(pr2,x4,y0,y1)
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STEP 23.1: park(pr2)
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STEP 24: gripper-up(pr2,x4,y1,xrel0,x4,yrel0,yrel-1,y1,y0)
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STEP 25: gripper-down(pr2,x4,y1,xrel0,x4,yrel-1,yrel0,y0,y1)
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STEP 26: unpark(pr2,xrel0,yrel0)
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STEP 27: base-down(pr2,x4,y1,y2)
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STEP 28.0: base-right(pr2,x4,x5,y2)
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STEP 28.1: park(pr2)
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STEP 29: get-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object0,y3)
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STEP 30.0: put-left(pr2,x5,y2,xrel0,x5,yrel0,y2,object0,x4)
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STEP 30.1: unpark(pr2,xrel0,yrel0)
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STEP 31: base-left(pr2,x5,x4,y2) finish-object(object0,x4,y2)
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STEP 32: base-up(pr2,x4,y2,y1)
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STEP 33: base-up(pr2,x4,y1,y0)
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STEP 34: base-left(pr2,x4,x3,y0)
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STEP 35: base-left(pr2,x3,x2,y0)
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STEP 36: base-down(pr2,x2,y0,y1)
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STEP 37: base-down(pr2,x2,y1,y2)
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STEP 38: base-left(pr2,x2,x1,y2)
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STEP 39.0: base-right(pr2,x1,x2,y2)
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STEP 39.1: park(pr2)
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STEP 40: gripper-left(pr2,x2,y2,xrel0,xrel-1,x2,x1,yrel0,y2)
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STEP 41.0: get-down(pr2,x2,y2,xrel-1,x1,yrel0,y2,object2,y3)
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STEP 41.1: gripper-right(pr2,x2,y2,xrel-1,xrel0,x1,x2,yrel0,y2)
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STEP 42: unpark(pr2,xrel0,yrel0)
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STEP 43: base-up(pr2,x2,y2,y1)
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STEP 44: base-up(pr2,x2,y1,y0)
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STEP 45: base-right(pr2,x2,x3,y0)
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STEP 46: base-right(pr2,x3,x4,y0)
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STEP 47: base-down(pr2,x4,y0,y1)
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STEP 48: base-down(pr2,x4,y1,y2)
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STEP 49: base-right(pr2,x4,x5,y2)
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STEP 50: base-up(pr2,x5,y2,y1)
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STEP 51: base-up(pr2,x5,y1,y0)
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STEP 52: base-right(pr2,x5,x6,y0)
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STEP 53: base-right(pr2,x6,x7,y0)
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STEP 54: base-down(pr2,x7,y0,y1)
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STEP 55: base-down(pr2,x7,y1,y2)
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STEP 56: base-right(pr2,x7,x8,y2)
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STEP 57: base-up(pr2,x8,y2,y1)
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STEP 58: base-up(pr2,x8,y1,y0)
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STEP 59: base-left(pr2,x8,x7,y0)
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STEP 60: base-right(pr2,x7,x8,y0)
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STEP 61.0: base-left(pr2,x8,x7,y0)
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STEP 61.1: park(pr2)
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STEP 62: unpark(pr2,xrel0,yrel0)
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STEP 63: base-left(pr2,x7,x6,y0)
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STEP 64: base-left(pr2,x6,x5,y0)
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STEP 65.0: base-down(pr2,x5,y0,y1)
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STEP 65.1: park(pr2)
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STEP 66: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2)
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STEP 67: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1)
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STEP 68.0: put-down(pr2,x5,y1,xrel0,x5,yrel0,y1,object2,y2)
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STEP 68.1: unpark(pr2,xrel0,yrel0)
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STEP 69: base-up(pr2,x5,y1,y0) finish-object(object2,x5,y2)
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STEP 70: base-right(pr2,x5,x6,y0)
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STEP 71: base-right(pr2,x6,x7,y0)
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STEP 72: base-down(pr2,x7,y0,y1)
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STEP 73: base-down(pr2,x7,y1,y2)
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STEP 74: base-down(pr2,x7,y2,y3)
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STEP 75: base-down(pr2,x7,y3,y4)
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STEP 76: base-down(pr2,x7,y4,y5)
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STEP 77: base-left(pr2,x7,x6,y5)
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STEP 78: base-left(pr2,x6,x5,y5)
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STEP 79: base-left(pr2,x5,x4,y5)
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STEP 80: base-down(pr2,x4,y5,y6)
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STEP 81.0: base-down(pr2,x4,y6,y7)
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STEP 81.1: park(pr2)
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STEP 82: gripper-up(pr2,x4,y7,xrel0,x4,yrel0,yrel-1,y7,y6)
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STEP 83: gripper-right(pr2,x4,y7,xrel0,xrel1,x4,x5,yrel-1,y6)
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STEP 84.0: get-right(pr2,x4,y7,xrel1,x5,yrel-1,y6,object1,x6)
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STEP 84.1: gripper-left(pr2,x4,y7,xrel1,xrel0,x5,x4,yrel-1,y6)
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STEP 85: gripper-left(pr2,x4,y7,xrel0,xrel-1,x4,x3,yrel-1,y6)
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STEP 86.0: put-left(pr2,x4,y7,xrel-1,x3,yrel-1,y6,object1,x2)
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STEP 86.1: gripper-down(pr2,x4,y7,xrel-1,x3,yrel-1,yrel0,y6,y7)
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STEP 87: finish-object(object1,x2,y6) gripper-right(pr2,x4,y7,xrel-1,xrel0,x3,x4,yrel0,y7)
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STEP 88: unpark(pr2,xrel0,yrel0)
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STEP 89: park(pr2)
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STEP 90: gripper-right(pr2,x4,y7,xrel0,xrel1,x4,x5,yrel0,y7)
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STEP 91: gripper-left(pr2,x4,y7,xrel1,xrel0,x5,x4,yrel0,y7)
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STEP 92: unpark(pr2,xrel0,yrel0)
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STEP 93: base-up(pr2,x4,y7,y6)
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STEP 94: base-left(pr2,x4,x3,y6)
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STEP 95: base-up(pr2,x3,y6,y5)
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STEP 96: base-left(pr2,x3,x2,y5)
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STEP 97.0: base-up(pr2,x2,y5,y4)
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STEP 97.1: park(pr2)
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STEP 98: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
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STEP 99: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel1,y5)
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STEP 100.0: get-down(pr2,x2,y4,xrel-1,x1,yrel1,y5,object3,y6)
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STEP 100.1: gripper-up(pr2,x2,y4,xrel-1,x1,yrel1,yrel0,y5,y4)
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STEP 101: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
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STEP 102: unpark(pr2,xrel0,yrel0)
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STEP 103: base-up(pr2,x2,y4,y3)
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STEP 104: base-up(pr2,x2,y3,y2)
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STEP 105: base-up(pr2,x2,y2,y1)
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STEP 106: base-up(pr2,x2,y1,y0)
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STEP 107: base-right(pr2,x2,x3,y0)
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STEP 108: base-right(pr2,x3,x4,y0)
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STEP 109: base-down(pr2,x4,y0,y1)
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STEP 110: base-down(pr2,x4,y1,y2)
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STEP 111.0: base-right(pr2,x4,x5,y2)
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STEP 111.1: park(pr2)
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STEP 112: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y3)
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STEP 113: finish-object(object3,x5,y3)
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135 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: 271.78 # [s]
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preprocessing: 4.53 # [s]
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maxLearnedClauseLength: 184154
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groundActions:
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afterParsing: 38501
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afterPreprocessing: 13826
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stateVariables:
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afterParsing: 762
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afterPreprocessing: 340
|
||
|
|
stronglyConnectedComponents:
|
||
|
|
maxSize: 10
|
||
|
|
plan:
|
||
|
|
found: true
|
||
|
|
length: 115
|
||
|
|
actions: 135
|
||
|
|
iterations:
|
||
|
|
- horizon: 0
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 0
|
||
|
|
decisions: 0
|
||
|
|
variables: 340
|
||
|
|
- horizon: 5
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 0
|
||
|
|
decisions: 0
|
||
|
|
variables: 71170
|
||
|
|
- horizon: 10
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 0
|
||
|
|
decisions: 0
|
||
|
|
variables: 142000
|
||
|
|
- horizon: 15
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 56
|
||
|
|
decisions: 56
|
||
|
|
variables: 212830
|
||
|
|
- horizon: 20
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 1287
|
||
|
|
decisions: 1397
|
||
|
|
variables: 283660
|
||
|
|
- horizon: 25
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 7053
|
||
|
|
decisions: 7983
|
||
|
|
variables: 354490
|
||
|
|
- horizon: 30
|
||
|
|
result: unknown
|
||
|
|
conflicts: 7384
|
||
|
|
decisions: 11017
|
||
|
|
variables: 425320
|
||
|
|
- horizon: 35
|
||
|
|
result: unknown
|
||
|
|
conflicts: 6728
|
||
|
|
decisions: 9753
|
||
|
|
variables: 496150
|
||
|
|
- horizon: 40
|
||
|
|
result: unknown
|
||
|
|
conflicts: 6067
|
||
|
|
decisions: 8127
|
||
|
|
variables: 566980
|
||
|
|
- horizon: 45
|
||
|
|
result: unknown
|
||
|
|
conflicts: 5471
|
||
|
|
decisions: 7810
|
||
|
|
variables: 637810
|
||
|
|
- horizon: 50
|
||
|
|
result: unknown
|
||
|
|
conflicts: 4929
|
||
|
|
decisions: 7125
|
||
|
|
variables: 708640
|
||
|
|
- horizon: 55
|
||
|
|
result: unknown
|
||
|
|
conflicts: 4450
|
||
|
|
decisions: 6602
|
||
|
|
variables: 779470
|
||
|
|
- horizon: 60
|
||
|
|
result: unknown
|
||
|
|
conflicts: 3961
|
||
|
|
decisions: 6177
|
||
|
|
variables: 850300
|
||
|
|
- horizon: 65
|
||
|
|
result: unknown
|
||
|
|
conflicts: 3610
|
||
|
|
decisions: 5650
|
||
|
|
variables: 921130
|
||
|
|
- horizon: 70
|
||
|
|
result: unknown
|
||
|
|
conflicts: 3245
|
||
|
|
decisions: 5338
|
||
|
|
variables: 991960
|
||
|
|
- horizon: 75
|
||
|
|
result: unknown
|
||
|
|
conflicts: 2944
|
||
|
|
decisions: 4829
|
||
|
|
variables: 1062790
|
||
|
|
- horizon: 80
|
||
|
|
result: unknown
|
||
|
|
conflicts: 2640
|
||
|
|
decisions: 4440
|
||
|
|
variables: 1133620
|
||
|
|
- horizon: 85
|
||
|
|
result: unknown
|
||
|
|
conflicts: 2402
|
||
|
|
decisions: 4337
|
||
|
|
variables: 1204450
|
||
|
|
- horizon: 90
|
||
|
|
result: unknown
|
||
|
|
conflicts: 2164
|
||
|
|
decisions: 3776
|
||
|
|
variables: 1275280
|
||
|
|
- horizon: 95
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1922
|
||
|
|
decisions: 3489
|
||
|
|
variables: 1346110
|
||
|
|
- horizon: 100
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1749
|
||
|
|
decisions: 3250
|
||
|
|
variables: 1416940
|
||
|
|
- horizon: 105
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1563
|
||
|
|
decisions: 2980
|
||
|
|
variables: 1487770
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1442
|
||
|
|
decisions: 2814
|
||
|
|
variables: 1558600
|
||
|
|
- horizon: 115
|
||
|
|
result: satisfiable
|
||
|
|
conflicts: 1311
|
||
|
|
decisions: 2598
|
||
|
|
variables: 1629430
|
||
|
|
- horizon: 120
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1141
|
||
|
|
decisions: 2011
|
||
|
|
variables: 1700260
|
||
|
|
- horizon: 125
|
||
|
|
result: unknown
|
||
|
|
conflicts: 902
|
||
|
|
decisions: 1683
|
||
|
|
variables: 1771090
|
||
|
|
...
|
||
|
|
|