133 lines
4.9 KiB
Plaintext
133 lines
4.9 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-1.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 80 -T 80
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Domain: tidybot
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Problem: test
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Parser: 38357 ground actions and 761 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1.77 secs
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Goal: conjunctive
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Simplified: 14685 ground actions and 341 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.08 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 261 MB)
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Horizon 80: 1202421 variables
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Allocated 32 MB (total 447 MB)
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Allocated 32 MB (total 479 MB)
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SAT (0 ID 15163 decisions 8857 conflicts 1202421 variables)
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PLAN FOUND: 80 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-down(pr2,x1,y0,y1)
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STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
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STEP 4.0: base-cart-down(pr2,cart,x1,y1,y2,x0,y1,y2)
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STEP 4.1: ungrasp-cart(pr2,cart)
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STEP 5: base-right(pr2,x1,x2,y2)
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STEP 6: base-down(pr2,x2,y2,y3)
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STEP 7: base-down(pr2,x2,y3,y4)
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STEP 8: base-left(pr2,x2,x1,y4)
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STEP 9: base-left(pr2,x1,x0,y4)
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STEP 10: base-right(pr2,x0,x1,y4)
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STEP 11: base-right(pr2,x1,x2,y4)
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STEP 12.0: base-up(pr2,x2,y4,y3)
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STEP 12.1: park(pr2)
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STEP 13.0: get-left(pr2,x2,y3,xrel0,x2,yrel0,y3,object3,x1)
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STEP 13.1: unpark(pr2,xrel0,yrel0)
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STEP 14: base-down(pr2,x2,y3,y4)
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STEP 15: base-left(pr2,x2,x1,y4)
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STEP 16: base-left(pr2,x1,x0,y4)
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STEP 17: base-down(pr2,x0,y4,y5)
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STEP 18: base-down(pr2,x0,y5,y6)
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STEP 19: base-down(pr2,x0,y6,y7)
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STEP 20: base-right(pr2,x0,x1,y7)
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STEP 21: base-right(pr2,x1,x2,y7)
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STEP 22: base-right(pr2,x2,x3,y7)
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STEP 23: base-right(pr2,x3,x4,y7)
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STEP 24: base-right(pr2,x4,x5,y7)
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STEP 25: base-up(pr2,x5,y7,y6)
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STEP 26.0: base-up(pr2,x5,y6,y5)
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STEP 26.1: park(pr2)
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STEP 27.0: put-left(pr2,x5,y5,xrel0,x5,yrel0,y5,object3,x4)
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STEP 27.1: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
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STEP 28: get-up(pr2,x5,y5,xrel0,x5,yrel1,y6,object0,y5)
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STEP 29: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
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STEP 30: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
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STEP 31: put-left(pr2,x5,y5,xrel0,x5,yrel-1,y4,object0,x4)
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STEP 32: finish-object(object0,x4,y4) gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
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STEP 33: unpark(pr2,xrel0,yrel0)
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STEP 34: base-down(pr2,x5,y5,y6)
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STEP 35: base-down(pr2,x5,y6,y7)
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STEP 36: base-right(pr2,x5,x6,y7)
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STEP 37: base-right(pr2,x6,x7,y7)
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STEP 38: base-up(pr2,x7,y7,y6)
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STEP 39: base-up(pr2,x7,y6,y5)
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STEP 40: base-up(pr2,x7,y5,y4)
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STEP 41: base-up(pr2,x7,y4,y3)
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STEP 42: base-up(pr2,x7,y3,y2)
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STEP 43: base-left(pr2,x7,x6,y2)
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STEP 44: base-left(pr2,x6,x5,y2)
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STEP 45: base-left(pr2,x5,x4,y2)
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STEP 46.0: base-left(pr2,x4,x3,y2)
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STEP 46.1: park(pr2)
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STEP 47: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
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STEP 48: gripper-up(pr2,x3,y2,xrel1,x4,yrel0,yrel-1,y2,y1)
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STEP 49.0: get-right(pr2,x3,y2,xrel1,x4,yrel-1,y1,object1,x5)
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STEP 49.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel-1,yrel0,y1,y2)
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STEP 50: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel0,y2)
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STEP 51: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
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STEP 52: gripper-down(pr2,x3,y2,xrel-1,x2,yrel0,yrel1,y2,y3)
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STEP 53.0: put-left(pr2,x3,y2,xrel-1,x2,yrel1,y3,object1,x1)
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STEP 53.1: gripper-up(pr2,x3,y2,xrel-1,x2,yrel1,yrel0,y3,y2)
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STEP 54: finish-object(object1,x1,y3) gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
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STEP 55.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object2,y1)
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STEP 55.1: unpark(pr2,xrel0,yrel0)
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STEP 56: base-left(pr2,x3,x2,y2)
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STEP 57: base-down(pr2,x2,y2,y3)
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STEP 58.0: base-down(pr2,x2,y3,y4)
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STEP 58.1: park(pr2)
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STEP 59: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel0,y4)
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STEP 60.0: put-down(pr2,x2,y4,xrel-1,x1,yrel0,y4,object2,y5)
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STEP 60.1: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
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STEP 61: finish-object(object2,x1,y5) unpark(pr2,xrel0,yrel0)
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STEP 62: base-down(pr2,x2,y4,y5)
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STEP 63: base-down(pr2,x2,y5,y6)
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STEP 64: base-left(pr2,x2,x1,y6)
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STEP 65: base-right(pr2,x1,x2,y6)
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STEP 66: base-down(pr2,x2,y6,y7)
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STEP 67: base-right(pr2,x2,x3,y7)
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STEP 68: base-right(pr2,x3,x4,y7)
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STEP 69: base-up(pr2,x4,y7,y6)
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STEP 70: base-up(pr2,x4,y6,y5)
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STEP 71.0: base-right(pr2,x4,x5,y5)
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STEP 71.1: park(pr2)
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STEP 72.0: get-left(pr2,x5,y5,xrel0,x5,yrel0,y5,object3,x4)
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STEP 72.1: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
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STEP 73: put-down(pr2,x5,y5,xrel0,x5,yrel-1,y4,object3,y5)
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STEP 74: finish-object(object3,x5,y5)
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91 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: 25.93 # [s]
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preprocessing: 4.30 # [s]
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maxLearnedClauseLength: 92453
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groundActions:
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afterParsing: 38357
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afterPreprocessing: 14685
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stateVariables:
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afterParsing: 761
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afterPreprocessing: 341
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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: 80
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actions: 91
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iterations:
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...
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