355 lines
12 KiB
Plaintext
355 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-17.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: 75679 ground actions and 1103 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 8.66 secs
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Goal: conjunctive
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Simplified: 35109 ground actions and 505 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 10.88 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 541 MB)
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Horizon 0: 505 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 178575 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 356645 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 534715 variables
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Allocated 32 MB (total 957 MB)
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Allocated 32 MB permanent (total 1107 MB)
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Horizon 20: 712785 variables
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Allocated 32 MB permanent (total 1268 MB)
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Horizon 25: 890855 variables
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Horizon 30: 1068925 variables
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Allocated 32 MB permanent (total 1590 MB)
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Horizon 35: 1246995 variables
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Allocated 32 MB permanent (total 1782 MB)
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Horizon 40: 1425065 variables
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Allocated 32 MB permanent (total 1986 MB)
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Allocated 32 MB permanent (total 2018 MB)
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Horizon 45: 1603135 variables
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Allocated 32 MB permanent (total 2231 MB)
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Horizon 50: 1781205 variables
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15 UNSAT (471 decisions 433 conflicts)
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Allocated 32 MB permanent (total 2455 MB)
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Allocated 32 MB permanent (total 2487 MB)
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Horizon 55: 1959275 variables
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Allocated 32 MB permanent (total 2722 MB)
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Horizon 60: 2137345 variables
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Allocated 32 MB permanent (total 2967 MB)
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Allocated 32 MB permanent (total 2999 MB)
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Horizon 65: 2315415 variables
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Allocated 32 MB permanent (total 3255 MB)
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Allocated 32 MB permanent (total 3287 MB)
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Horizon 70: 2493485 variables
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Allocated 32 MB permanent (total 3553 MB)
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Allocated 32 MB permanent (total 3585 MB)
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Horizon 75: 2671555 variables
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Allocated 32 MB permanent (total 3862 MB)
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Allocated 32 MB permanent (total 3894 MB)
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Horizon 80: 2849625 variables
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Allocated 32 MB permanent (total 4182 MB)
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Allocated 32 MB permanent (total 4214 MB)
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Allocated 32 MB permanent (total 4246 MB)
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Horizon 85: 3027695 variables
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Allocated 32 MB permanent (total 4543 MB)
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Allocated 32 MB permanent (total 4575 MB)
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Horizon 90: 3205765 variables
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Allocated 32 MB permanent (total 4884 MB)
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Allocated 32 MB permanent (total 4916 MB)
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Allocated 32 MB permanent (total 4948 MB)
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Horizon 95: 3383835 variables
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Allocated 32 MB (total 4980 MB)
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Allocated 32 MB permanent (total 5299 MB)
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Allocated 32 MB permanent (total 5331 MB)
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Horizon 100: 3561905 variables
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Allocated 32 MB permanent (total 5660 MB)
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Allocated 32 MB permanent (total 5692 MB)
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Allocated 32 MB permanent (total 5724 MB)
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Horizon 105: 3739975 variables
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Allocated 32 MB permanent (total 6064 MB)
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Allocated 32 MB permanent (total 6096 MB)
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Allocated 32 MB permanent (total 6128 MB)
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Horizon 110: 3918045 variables
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Allocated 32 MB permanent (total 6479 MB)
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Allocated 32 MB permanent (total 6511 MB)
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Allocated 32 MB permanent (total 6543 MB)
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Allocated 32 MB permanent (total 6575 MB)
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Horizon 115: 4096115 variables
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SAT (21 ID 334 decisions 161 conflicts 3739975 variables)
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PLAN FOUND: 105 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
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STEP 2: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
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STEP 3: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
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STEP 4.0: base-cart-left(pr2,cart,x2,x1,y0,x2,x1,y1)
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STEP 4.1: ungrasp-cart(pr2,cart)
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STEP 5: base-left(pr2,x1,x0,y0)
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STEP 6: base-down(pr2,x0,y0,y1)
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STEP 7: base-up(pr2,x0,y1,y0)
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STEP 8: base-down(pr2,x0,y0,y1)
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STEP 9: grasp-cart-right(pr2,cart,x0,y1,x1)
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STEP 10.0: base-cart-up(pr2,cart,x0,y1,y0,x1,y1,y0)
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STEP 10.1: ungrasp-cart(pr2,cart)
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STEP 11: base-down(pr2,x0,y0,y1)
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STEP 12: base-down(pr2,x0,y1,y2)
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STEP 13: base-down(pr2,x0,y2,y3)
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STEP 14: base-down(pr2,x0,y3,y4)
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STEP 15.0: base-down(pr2,x0,y4,y5)
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STEP 15.1: park(pr2)
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STEP 16: gripper-up(pr2,x0,y5,xrel0,x0,yrel0,yrel-1,y5,y4)
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STEP 17.0: get-right(pr2,x0,y5,xrel0,x0,yrel-1,y4,object2,x1)
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STEP 17.1: gripper-down(pr2,x0,y5,xrel0,x0,yrel-1,yrel0,y4,y5)
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STEP 18: gripper-down(pr2,x0,y5,xrel0,x0,yrel0,yrel1,y5,y6)
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STEP 19: gripper-up(pr2,x0,y5,xrel0,x0,yrel1,yrel0,y6,y5)
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STEP 20: unpark(pr2,xrel0,yrel0)
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STEP 21.0: base-right(pr2,x0,x1,y5)
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STEP 21.1: park(pr2)
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STEP 22.0: put-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
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STEP 22.1: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel0,y5)
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STEP 23.0: get-down(pr2,x1,y5,xrel1,x2,yrel0,y5,object3,y6)
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STEP 23.1: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
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STEP 24: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6)
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STEP 25: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6)
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STEP 26.0: put-right(pr2,x1,y5,xrel1,x2,yrel1,y6,object3,x3)
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STEP 26.1: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5)
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STEP 27: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
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STEP 28: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6)
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STEP 29: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6)
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STEP 30: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5)
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STEP 31: gripper-up(pr2,x1,y5,xrel1,x2,yrel0,yrel-1,y5,y4)
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STEP 32: gripper-down(pr2,x1,y5,xrel1,x2,yrel-1,yrel0,y4,y5)
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STEP 33: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
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STEP 34: unpark(pr2,xrel0,yrel0)
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STEP 35: base-down(pr2,x1,y5,y6)
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STEP 36.0: base-down(pr2,x1,y6,y7)
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STEP 36.1: park(pr2)
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STEP 37.0: get-down(pr2,x1,y7,xrel0,x1,yrel0,y7,object0,y8)
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STEP 37.1: gripper-right(pr2,x1,y7,xrel0,xrel1,x1,x2,yrel0,y7)
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STEP 38.0: put-up(pr2,x1,y7,xrel1,x2,yrel0,y7,object0,y6)
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STEP 38.1: gripper-left(pr2,x1,y7,xrel1,xrel0,x2,x1,yrel0,y7)
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STEP 39: finish-object(object0,x2,y6) unpark(pr2,xrel0,yrel0)
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STEP 40.0: base-up(pr2,x1,y7,y6)
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STEP 40.1: park(pr2)
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STEP 41: gripper-left(pr2,x1,y6,xrel0,xrel-1,x1,x0,yrel0,y6)
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STEP 42: gripper-right(pr2,x1,y6,xrel-1,xrel0,x0,x1,yrel0,y6)
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STEP 43: unpark(pr2,xrel0,yrel0)
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STEP 44.0: base-up(pr2,x1,y6,y5)
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STEP 44.1: park(pr2)
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STEP 45.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
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STEP 45.1: unpark(pr2,xrel0,yrel0)
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STEP 46: base-right(pr2,x1,x2,y5)
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STEP 47: base-right(pr2,x2,x3,y5)
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STEP 48: base-right(pr2,x3,x4,y5)
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STEP 49: base-right(pr2,x4,x5,y5)
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STEP 50.0: base-right(pr2,x5,x6,y5)
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STEP 50.1: park(pr2)
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STEP 51: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
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STEP 52: gripper-down(pr2,x6,y5,xrel-1,x5,yrel0,yrel1,y5,y6)
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STEP 53: gripper-up(pr2,x6,y5,xrel-1,x5,yrel1,yrel0,y6,y5)
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STEP 54: gripper-up(pr2,x6,y5,xrel-1,x5,yrel0,yrel-1,y5,y4)
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STEP 55.0: put-up(pr2,x6,y5,xrel-1,x5,yrel-1,y4,object2,y3)
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STEP 55.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4)
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STEP 56.0: get-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3)
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STEP 56.1: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel-1,y4)
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STEP 57: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4)
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STEP 58.0: put-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3)
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STEP 58.1: gripper-down(pr2,x6,y5,xrel0,x6,yrel-1,yrel0,y4,y5)
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STEP 59: unpark(pr2,xrel0,yrel0)
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STEP 60.0: base-up(pr2,x6,y5,y4)
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STEP 60.1: park(pr2)
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STEP 61: gripper-left(pr2,x6,y4,xrel0,xrel-1,x6,x5,yrel0,y4)
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STEP 62.0: get-up(pr2,x6,y4,xrel-1,x5,yrel0,y4,object2,y3)
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STEP 62.1: gripper-right(pr2,x6,y4,xrel-1,xrel0,x5,x6,yrel0,y4)
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STEP 63: unpark(pr2,xrel0,yrel0)
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STEP 64: base-up(pr2,x6,y4,y3)
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STEP 65: base-up(pr2,x6,y3,y2)
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STEP 66.0: base-left(pr2,x6,x5,y2)
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STEP 66.1: park(pr2)
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STEP 67: put-right(pr2,x5,y2,xrel0,x5,yrel0,y2,object2,x6)
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STEP 68: finish-object(object2,x6,y2) gripper-down(pr2,x5,y2,xrel0,x5,yrel0,yrel1,y2,y3)
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STEP 69.0: get-right(pr2,x5,y2,xrel0,x5,yrel1,y3,object1,x6)
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STEP 69.1: gripper-up(pr2,x5,y2,xrel0,x5,yrel1,yrel0,y3,y2)
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STEP 70.0: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object1,y3)
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STEP 70.1: unpark(pr2,xrel0,yrel0)
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STEP 71.0: base-right(pr2,x5,x6,y2) finish-object(object1,x5,y3)
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STEP 71.1: park(pr2)
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STEP 72: gripper-down(pr2,x6,y2,xrel0,x6,yrel0,yrel1,y2,y3)
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STEP 73: gripper-up(pr2,x6,y2,xrel0,x6,yrel1,yrel0,y3,y2)
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STEP 74: unpark(pr2,xrel0,yrel0)
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STEP 75: base-down(pr2,x6,y2,y3)
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STEP 76: base-down(pr2,x6,y3,y4)
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STEP 77: base-left(pr2,x6,x5,y4)
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STEP 78: base-down(pr2,x5,y4,y5)
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STEP 79.0: base-left(pr2,x5,x4,y5)
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STEP 79.1: park(pr2)
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STEP 80: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
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STEP 81.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3)
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STEP 81.1: gripper-right(pr2,x4,y5,xrel0,xrel1,x4,x5,yrel1,y6)
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STEP 82: gripper-up(pr2,x4,y5,xrel1,x5,yrel1,yrel0,y6,y5)
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STEP 83: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4)
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STEP 84: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5)
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STEP 85: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4)
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STEP 86: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5)
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STEP 87: gripper-left(pr2,x4,y5,xrel1,xrel0,x5,x4,yrel0,y5)
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STEP 88: unpark(pr2,xrel0,yrel0)
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STEP 89.0: base-right(pr2,x4,x5,y5)
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STEP 89.1: park(pr2)
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STEP 90: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
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STEP 91: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
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STEP 92: unpark(pr2,xrel0,yrel0)
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STEP 93: base-right(pr2,x5,x6,y5)
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STEP 94.0: base-up(pr2,x6,y5,y4)
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STEP 94.1: park(pr2)
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STEP 95: put-up(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,y3)
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STEP 96: finish-object(object3,x6,y3)
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128 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: 63.99 # [s]
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preprocessing: 20.92 # [s]
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maxLearnedClauseLength: 176324
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groundActions:
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afterParsing: 75679
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afterPreprocessing: 35109
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stateVariables:
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afterParsing: 1103
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afterPreprocessing: 505
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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: 105
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actions: 128
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iterations:
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- horizon: 0
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 505
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- horizon: 5
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 178575
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- horizon: 10
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result: unsatisfiable
|
||
|
|
conflicts: 0
|
||
|
|
decisions: 0
|
||
|
|
variables: 356645
|
||
|
|
- horizon: 15
|
||
|
|
result: unsatisfiable
|
||
|
|
conflicts: 433
|
||
|
|
decisions: 471
|
||
|
|
variables: 534715
|
||
|
|
- horizon: 20
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1200
|
||
|
|
decisions: 1341
|
||
|
|
variables: 712785
|
||
|
|
- horizon: 25
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1143
|
||
|
|
decisions: 1426
|
||
|
|
variables: 890855
|
||
|
|
- horizon: 30
|
||
|
|
result: unknown
|
||
|
|
conflicts: 1020
|
||
|
|
decisions: 1307
|
||
|
|
variables: 1068925
|
||
|
|
- horizon: 35
|
||
|
|
result: unknown
|
||
|
|
conflicts: 960
|
||
|
|
decisions: 1343
|
||
|
|
variables: 1246995
|
||
|
|
- horizon: 40
|
||
|
|
result: unknown
|
||
|
|
conflicts: 840
|
||
|
|
decisions: 1215
|
||
|
|
variables: 1425065
|
||
|
|
- horizon: 45
|
||
|
|
result: unknown
|
||
|
|
conflicts: 781
|
||
|
|
decisions: 1199
|
||
|
|
variables: 1603135
|
||
|
|
- horizon: 50
|
||
|
|
result: unknown
|
||
|
|
conflicts: 720
|
||
|
|
decisions: 1141
|
||
|
|
variables: 1781205
|
||
|
|
- horizon: 55
|
||
|
|
result: unknown
|
||
|
|
conflicts: 660
|
||
|
|
decisions: 1107
|
||
|
|
variables: 1959275
|
||
|
|
- horizon: 60
|
||
|
|
result: unknown
|
||
|
|
conflicts: 601
|
||
|
|
decisions: 1045
|
||
|
|
variables: 2137345
|
||
|
|
- horizon: 65
|
||
|
|
result: unknown
|
||
|
|
conflicts: 541
|
||
|
|
decisions: 891
|
||
|
|
variables: 2315415
|
||
|
|
- horizon: 70
|
||
|
|
result: unknown
|
||
|
|
conflicts: 481
|
||
|
|
decisions: 790
|
||
|
|
variables: 2493485
|
||
|
|
- horizon: 75
|
||
|
|
result: unknown
|
||
|
|
conflicts: 420
|
||
|
|
decisions: 740
|
||
|
|
variables: 2671555
|
||
|
|
- horizon: 80
|
||
|
|
result: unknown
|
||
|
|
conflicts: 420
|
||
|
|
decisions: 706
|
||
|
|
variables: 2849625
|
||
|
|
- horizon: 85
|
||
|
|
result: unknown
|
||
|
|
conflicts: 362
|
||
|
|
decisions: 639
|
||
|
|
variables: 3027695
|
||
|
|
- horizon: 90
|
||
|
|
result: unknown
|
||
|
|
conflicts: 360
|
||
|
|
decisions: 638
|
||
|
|
variables: 3205765
|
||
|
|
- horizon: 95
|
||
|
|
result: unknown
|
||
|
|
conflicts: 301
|
||
|
|
decisions: 484
|
||
|
|
variables: 3383835
|
||
|
|
- horizon: 100
|
||
|
|
result: unknown
|
||
|
|
conflicts: 240
|
||
|
|
decisions: 419
|
||
|
|
variables: 3561905
|
||
|
|
- horizon: 105
|
||
|
|
result: satisfiable
|
||
|
|
conflicts: 161
|
||
|
|
decisions: 334
|
||
|
|
variables: 3739975
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 60
|
||
|
|
decisions: 102
|
||
|
|
variables: 3918045
|
||
|
|
- horizon: 115
|
||
|
|
result: unknown
|
||
|
|
conflicts: 0
|
||
|
|
decisions: 0
|
||
|
|
variables: 4096115
|
||
|
|
...
|
||
|
|
|