96 lines
4.2 KiB
Plaintext
96 lines
4.2 KiB
Plaintext
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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-3.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: 38082 ground actions and 760 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2.19 secs
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Goal: conjunctive
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Simplified: 15807 ground actions and 337 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.18 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 274 MB)
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Horizon 0: 337 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 81057 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 161777 variables
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Allocated 32 MB (total 556 MB)
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10 UNSAT (30 decisions 29 conflicts)
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Horizon 15: 242497 variables
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Horizon 20: 323217 variables
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Horizon 25: 403937 variables
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Allocated 32 MB permanent (total 979 MB)
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Horizon 30: 484657 variables
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Horizon 35: 565377 variables
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Allocated 32 MB permanent (total 1236 MB)
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Horizon 40: 646097 variables
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SAT (148 decisions 83 conflicts)
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PLAN FOUND: 35 steps
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STEP 0: gripper-down(pr2,x0,y0,xrel0,x0,yrel0,yrel1,y0,y1)
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STEP 1: gripper-up(pr2,x0,y0,xrel0,x0,yrel1,yrel0,y1,y0)
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STEP 2: unpark(pr2,xrel0,yrel0)
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STEP 3: base-right(pr2,x0,x1,y0)
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STEP 4: base-right(pr2,x1,x2,y0)
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STEP 5: base-down(pr2,x2,y0,y1)
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STEP 6: base-down(pr2,x2,y1,y2)
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STEP 7.0: base-right(pr2,x2,x3,y2)
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STEP 7.1: park(pr2)
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STEP 8.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
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STEP 8.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
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STEP 9: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
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STEP 10.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
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STEP 10.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
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STEP 11: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
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STEP 12.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
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STEP 12.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
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STEP 13.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
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STEP 13.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
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STEP 14.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1)
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STEP 14.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
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STEP 15: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
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STEP 16.0: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
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STEP 16.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
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STEP 17: gripper-up(pr2,x3,y2,xrel0,x3,yrel0,yrel-1,y2,y1)
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STEP 18: gripper-down(pr2,x3,y2,xrel0,x3,yrel-1,yrel0,y1,y2)
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STEP 19.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1)
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STEP 19.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
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STEP 20.0: get-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1)
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STEP 20.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
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STEP 21: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
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STEP 22.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object0,y4)
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STEP 22.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
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STEP 23.0: finish-object(object0,x3,y4) get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1)
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STEP 23.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
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STEP 24.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object1,y1)
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STEP 24.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
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STEP 25.0: finish-object(object1,x4,y1) get-down(pr2,x3,y2,xrel1,x4,yrel1,y3,object3,y4)
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STEP 25.1: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
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STEP 26: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
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STEP 27.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object3,y1)
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STEP 27.1: unpark(pr2,xrel0,yrel0)
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STEP 28.0: base-down(pr2,x3,y2,y3) finish-object(object3,x3,y1)
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STEP 28.1: park(pr2)
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STEP 29: gripper-right(pr2,x3,y3,xrel0,xrel1,x3,x4,yrel0,y3)
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STEP 30: gripper-down(pr2,x3,y3,xrel1,x4,yrel0,yrel1,y3,y4)
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STEP 31.0: get-down(pr2,x3,y3,xrel1,x4,yrel1,y4,object2,y5)
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STEP 31.1: gripper-up(pr2,x3,y3,xrel1,x4,yrel1,yrel0,y4,y3)
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STEP 32: put-down(pr2,x3,y3,xrel1,x4,yrel0,y3,object2,y4)
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STEP 33: finish-object(object2,x4,y4)
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53 actions in the plan.
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total time 6.56 preprocess 4.78
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total size 1.427 GB
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max. learned clause length 25827
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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 29 30
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15 -1 361 419
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20 -1 300 367
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25 -1 243 381
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30 -1 180 259
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35 1 83 148
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