126 lines
4.7 KiB
Plaintext
126 lines
4.7 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-5.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: 38092 ground actions and 758 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 1.90 secs
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Goal: conjunctive
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Simplified: 16230 ground actions and 339 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.46 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 278 MB)
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Horizon 80: 1325859 variables
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Allocated 32 MB (total 472 MB)
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SAT (0 ID 1893 decisions 973 conflicts 1325859 variables)
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PLAN FOUND: 80 steps
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STEP 0: finish-object(object3,x4,y5) 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 3.0: base-right(pr2,x2,x3,y0)
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STEP 3.1: park(pr2)
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STEP 4: gripper-down(pr2,x3,y0,xrel0,x3,yrel0,yrel1,y0,y1)
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STEP 5: gripper-up(pr2,x3,y0,xrel0,x3,yrel1,yrel0,y1,y0)
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STEP 6: unpark(pr2,xrel0,yrel0)
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STEP 7: base-right(pr2,x3,x4,y0)
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STEP 8: base-right(pr2,x4,x5,y0)
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STEP 9.0: base-right(pr2,x5,x6,y0)
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STEP 9.1: park(pr2)
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STEP 10.0: get-down(pr2,x6,y0,xrel0,x6,yrel0,y0,object0,y1)
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STEP 10.1: unpark(pr2,xrel0,yrel0)
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STEP 11: base-left(pr2,x6,x5,y0)
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STEP 12: base-left(pr2,x5,x4,y0)
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STEP 13: base-down(pr2,x4,y0,y1)
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STEP 14: base-down(pr2,x4,y1,y2)
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STEP 15.0: base-right(pr2,x4,x5,y2)
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STEP 15.1: park(pr2)
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STEP 16: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
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STEP 17: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
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STEP 18: unpark(pr2,xrel0,yrel0)
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STEP 19: base-left(pr2,x5,x4,y2)
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STEP 20.0: base-right(pr2,x4,x5,y2)
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STEP 20.1: park(pr2)
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STEP 21: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
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STEP 22: gripper-down(pr2,x5,y2,xrel1,x6,yrel0,yrel1,y2,y3)
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STEP 23: gripper-up(pr2,x5,y2,xrel1,x6,yrel1,yrel0,y3,y2)
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STEP 24: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
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STEP 25: unpark(pr2,xrel0,yrel0)
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STEP 26: base-left(pr2,x5,x4,y2)
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STEP 27: base-left(pr2,x4,x3,y2)
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STEP 28: base-left(pr2,x3,x2,y2)
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STEP 29: base-left(pr2,x2,x1,y2)
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STEP 30.0: base-down(pr2,x1,y2,y3)
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STEP 30.1: park(pr2)
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STEP 31: gripper-down(pr2,x1,y3,xrel0,x1,yrel0,yrel1,y3,y4)
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STEP 32: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel1,y4)
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STEP 33.0: put-right(pr2,x1,y3,xrel1,x2,yrel1,y4,object0,x3)
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STEP 33.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel1,y4)
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STEP 34: finish-object(object0,x3,y4) gripper-up(pr2,x1,y3,xrel0,x1,yrel1,yrel0,y4,y3)
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STEP 35: gripper-up(pr2,x1,y3,xrel0,x1,yrel0,yrel-1,y3,y2)
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STEP 36: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel-1,y2)
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STEP 37.0: get-up(pr2,x1,y3,xrel1,x2,yrel-1,y2,object1,y1)
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STEP 37.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel-1,y2)
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STEP 38: gripper-down(pr2,x1,y3,xrel0,x1,yrel-1,yrel0,y2,y3)
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STEP 39: unpark(pr2,xrel0,yrel0)
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STEP 40: base-down(pr2,x1,y3,y4)
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STEP 41: base-right(pr2,x1,x2,y4)
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STEP 42.0: base-left(pr2,x2,x1,y4)
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STEP 42.1: park(pr2)
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STEP 43: gripper-down(pr2,x1,y4,xrel0,x1,yrel0,yrel1,y4,y5)
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STEP 44: gripper-up(pr2,x1,y4,xrel0,x1,yrel1,yrel0,y5,y4)
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STEP 45: unpark(pr2,xrel0,yrel0)
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STEP 46.0: base-right(pr2,x1,x2,y4)
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STEP 46.1: park(pr2)
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STEP 47: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
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STEP 48: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
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STEP 49: unpark(pr2,xrel0,yrel0)
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STEP 50: base-right(pr2,x2,x3,y4)
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STEP 51: base-down(pr2,x3,y4,y5)
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STEP 52.0: base-right(pr2,x3,x4,y5)
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STEP 52.1: park(pr2)
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STEP 53: put-up(pr2,x4,y5,xrel0,x4,yrel0,y5,object1,y4)
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STEP 54: get-left(pr2,x4,y5,xrel0,x4,yrel0,y5,object2,x3)
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STEP 55: put-left(pr2,x4,y5,xrel0,x4,yrel0,y5,object2,x3)
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STEP 56.0: get-up(pr2,x4,y5,xrel0,x4,yrel0,y5,object1,y4)
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STEP 56.1: unpark(pr2,xrel0,yrel0)
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STEP 57: base-left(pr2,x4,x3,y5)
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STEP 58: base-right(pr2,x3,x4,y5)
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STEP 59.0: base-left(pr2,x4,x3,y5)
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STEP 59.1: park(pr2)
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STEP 60: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
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STEP 61: put-right(pr2,x3,y5,xrel-1,x2,yrel0,y5,object1,x3)
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STEP 62: finish-object(object1,x3,y5) get-right(pr2,x3,y5,xrel-1,x2,yrel0,y5,object2,x3)
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STEP 63: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel0,y5)
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STEP 64: unpark(pr2,xrel0,yrel0)
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STEP 65.0: base-right(pr2,x3,x4,y5)
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STEP 65.1: park(pr2)
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STEP 66: put-up(pr2,x4,y5,xrel0,x4,yrel0,y5,object2,y4)
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STEP 67: finish-object(object2,x4,y4)
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85 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: 7.91 # [s]
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preprocessing: 4.83 # [s]
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maxLearnedClauseLength: 31685
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groundActions:
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afterParsing: 38092
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afterPreprocessing: 16230
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stateVariables:
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afterParsing: 758
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afterPreprocessing: 339
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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: 85
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iterations:
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...
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