94 lines
3.3 KiB
Plaintext
94 lines
3.3 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-7.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 40 -T 40
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Domain: tidybot
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Problem: test
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Parser: 38083 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 2.54 secs
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Goal: conjunctive
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Simplified: 15822 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 2.37 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 40: 646697 variables
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Allocated 32 MB (total 427 MB)
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SAT (0 ID 264 decisions 136 conflicts 646697 variables)
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PLAN FOUND: 40 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-down(pr2,x2,y0,y1)
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STEP 4: base-right(pr2,x2,x3,y1)
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STEP 5: base-right(pr2,x3,x4,y1)
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STEP 6: base-down(pr2,x4,y1,y2)
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STEP 7: base-right(pr2,x4,x5,y2)
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STEP 8: base-down(pr2,x5,y2,y3)
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STEP 9.0: base-down(pr2,x5,y3,y4)
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STEP 9.1: park(pr2)
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STEP 10.0: get-up(pr2,x5,y4,xrel0,x5,yrel0,y4,object0,y3)
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STEP 10.1: unpark(pr2,xrel0,yrel0)
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STEP 11.0: base-up(pr2,x5,y4,y3)
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STEP 11.1: park(pr2)
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STEP 12.0: put-left(pr2,x5,y3,xrel0,x5,yrel0,y3,object0,x4)
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STEP 12.1: unpark(pr2,xrel0,yrel0)
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STEP 13: base-down(pr2,x5,y3,y4) finish-object(object0,x4,y3)
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STEP 14: base-left(pr2,x5,x4,y4)
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STEP 15.0: base-right(pr2,x4,x5,y4)
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STEP 15.1: park(pr2)
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STEP 16.0: get-left(pr2,x5,y4,xrel0,x5,yrel0,y4,object3,x4)
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STEP 16.1: gripper-up(pr2,x5,y4,xrel0,x5,yrel0,yrel-1,y4,y3)
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STEP 17: gripper-down(pr2,x5,y4,xrel0,x5,yrel-1,yrel0,y3,y4)
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STEP 18.0: put-left(pr2,x5,y4,xrel0,x5,yrel0,y4,object3,x4)
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STEP 18.1: unpark(pr2,xrel0,yrel0)
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STEP 19.0: base-left(pr2,x5,x4,y4)
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STEP 19.1: park(pr2)
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STEP 20: get-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object1,x5)
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STEP 21: gripper-right(pr2,x4,y4,xrel0,xrel1,x4,x5,yrel0,y4)
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STEP 22: put-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object1,x4)
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STEP 23: finish-object(object1,x4,y4) get-left(pr2,x4,y4,xrel1,x5,yrel0,y4,object3,x4)
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STEP 24: gripper-left(pr2,x4,y4,xrel1,xrel0,x5,x4,yrel0,y4)
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STEP 25.0: put-right(pr2,x4,y4,xrel0,x4,yrel0,y4,object3,x5)
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STEP 25.1: unpark(pr2,xrel0,yrel0)
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STEP 26: base-up(pr2,x4,y4,y3) finish-object(object3,x5,y4)
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STEP 27: base-up(pr2,x4,y3,y2)
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STEP 28: base-up(pr2,x4,y2,y1)
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STEP 29: base-left(pr2,x4,x3,y1)
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STEP 30: base-left(pr2,x3,x2,y1)
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STEP 31: base-down(pr2,x2,y1,y2)
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STEP 32: base-left(pr2,x2,x1,y2)
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STEP 33: base-down(pr2,x1,y2,y3)
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STEP 34.0: base-down(pr2,x1,y3,y4)
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STEP 34.1: park(pr2)
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STEP 35: gripper-down(pr2,x1,y4,xrel0,x1,yrel0,yrel1,y4,y5)
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STEP 36.0: get-down(pr2,x1,y4,xrel0,x1,yrel1,y5,object2,y6)
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STEP 36.1: gripper-right(pr2,x1,y4,xrel0,xrel1,x1,x2,yrel1,y5)
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STEP 37: put-left(pr2,x1,y4,xrel1,x2,yrel1,y5,object2,x1)
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STEP 38: finish-object(object2,x1,y5)
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53 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: 6.35 # [s]
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preprocessing: 5.39 # [s]
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maxLearnedClauseLength: 7670
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groundActions:
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afterParsing: 38083
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afterPreprocessing: 15822
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stateVariables:
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afterParsing: 761
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afterPreprocessing: 337
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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: 40
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actions: 53
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iterations:
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...
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