99 lines
3.7 KiB
Plaintext
99 lines
3.7 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-15.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: 54482 ground actions and 923 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 5.79 secs
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Goal: conjunctive
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Simplified: 24195 ground actions and 416 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.57 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 380 MB)
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Allocated 32 MB permanent (total 581 MB)
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Horizon 60: 1477076 variables
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Allocated 32 MB (total 618 MB)
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SAT (0 ID 123 decisions 70 conflicts 1477076 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: 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-right(pr2,x3,x4,y0)
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STEP 5: base-right(pr2,x4,x5,y0)
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STEP 6: base-down(pr2,x5,y0,y1)
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STEP 7: base-down(pr2,x5,y1,y2)
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STEP 8: base-down(pr2,x5,y2,y3)
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STEP 9: base-down(pr2,x5,y3,y4)
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STEP 10: base-down(pr2,x5,y4,y5)
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STEP 11: base-left(pr2,x5,x4,y5)
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STEP 12.0: base-left(pr2,x4,x3,y5)
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STEP 12.1: park(pr2)
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STEP 13: gripper-up(pr2,x3,y5,xrel0,x3,yrel0,yrel-1,y5,y4)
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STEP 14: gripper-down(pr2,x3,y5,xrel0,x3,yrel-1,yrel0,y4,y5)
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STEP 15: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
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STEP 16.0: get-right(pr2,x3,y5,xrel0,x3,yrel1,y6,object0,x4)
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STEP 16.1: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
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STEP 17: unpark(pr2,xrel0,yrel0)
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STEP 18: base-up(pr2,x3,y5,y4)
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STEP 19.0: base-up(pr2,x3,y4,y3)
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STEP 19.1: park(pr2)
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STEP 20.0: put-up(pr2,x3,y3,xrel0,x3,yrel0,y3,object0,y2)
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STEP 20.1: unpark(pr2,xrel0,yrel0)
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STEP 21: base-left(pr2,x3,x2,y3)
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STEP 22: base-up(pr2,x2,y3,y2)
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STEP 23: base-down(pr2,x2,y2,y3)
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STEP 24: base-up(pr2,x2,y3,y2)
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STEP 25.0: base-down(pr2,x2,y2,y3)
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STEP 25.1: park(pr2)
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STEP 26.0: get-up(pr2,x2,y3,xrel0,x2,yrel0,y3,object1,y2)
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STEP 26.1: gripper-right(pr2,x2,y3,xrel0,xrel1,x2,x3,yrel0,y3)
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STEP 27: put-left(pr2,x2,y3,xrel1,x3,yrel0,y3,object1,x2)
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STEP 28: finish-object(object1,x2,y3) get-up(pr2,x2,y3,xrel1,x3,yrel0,y3,object0,y2)
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STEP 29: gripper-up(pr2,x2,y3,xrel1,x3,yrel0,yrel-1,y3,y2)
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STEP 30: put-left(pr2,x2,y3,xrel1,x3,yrel-1,y2,object0,x2)
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STEP 31: finish-object(object0,x2,y2) gripper-down(pr2,x2,y3,xrel1,x3,yrel-1,yrel0,y2,y3)
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STEP 32: get-left(pr2,x2,y3,xrel1,x3,yrel0,y3,object2,x2)
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STEP 33.0: put-up(pr2,x2,y3,xrel1,x3,yrel0,y3,object2,y2)
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STEP 33.1: gripper-down(pr2,x2,y3,xrel1,x3,yrel0,yrel1,y3,y4)
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STEP 34: finish-object(object2,x3,y2) gripper-left(pr2,x2,y3,xrel1,xrel0,x3,x2,yrel1,y4)
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STEP 35: gripper-up(pr2,x2,y3,xrel0,x2,yrel1,yrel0,y4,y3)
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STEP 36: unpark(pr2,xrel0,yrel0)
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STEP 37: base-down(pr2,x2,y3,y4)
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STEP 38.0: base-down(pr2,x2,y4,y5)
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STEP 38.1: park(pr2)
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STEP 39: gripper-down(pr2,x2,y5,xrel0,x2,yrel0,yrel1,y5,y6)
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STEP 40.0: get-left(pr2,x2,y5,xrel0,x2,yrel1,y6,object3,x1)
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STEP 40.1: gripper-up(pr2,x2,y5,xrel0,x2,yrel1,yrel0,y6,y5)
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STEP 41: gripper-up(pr2,x2,y5,xrel0,x2,yrel0,yrel-1,y5,y4)
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STEP 42: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel-1,y4)
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STEP 43: put-up(pr2,x2,y5,xrel1,x3,yrel-1,y4,object3,y3)
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STEP 44: finish-object(object3,x3,y3)
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57 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: 14.02 # [s]
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preprocessing: 12.18 # [s]
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maxLearnedClauseLength: 2842
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groundActions:
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afterParsing: 54482
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afterPreprocessing: 24195
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stateVariables:
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afterParsing: 923
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afterPreprocessing: 416
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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: 57
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iterations:
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...
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