75 lines
2.7 KiB
Plaintext
75 lines
2.7 KiB
Plaintext
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-8.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 25 -T 25
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Domain: tidybot
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Problem: test
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Parser: 38105 ground actions and 759 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 1.68 secs
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Goal: conjunctive
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Simplified: 16229 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 2.49 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 25: 414539 variables
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Allocated 32 MB (total 418 MB)
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SAT (0 ID 967 decisions 705 conflicts 414539 variables)
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PLAN FOUND: 25 steps
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STEP 0: finish-object(object3,x5,y3) gripper-down(pr2,x0,y0,xrel0,x0,yrel0,yrel1,y0,y1)
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STEP 1: gripper-up(pr2,x0,y0,xrel0,x0,yrel1,yrel0,y1,y0)
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STEP 2: unpark(pr2,xrel0,yrel0)
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STEP 3: base-right(pr2,x0,x1,y0)
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STEP 4.0: base-right(pr2,x1,x2,y0)
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STEP 4.1: park(pr2)
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STEP 5: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel0,y0)
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STEP 6: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
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STEP 7: unpark(pr2,xrel0,yrel0)
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STEP 8: base-down(pr2,x2,y0,y1)
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STEP 9: base-down(pr2,x2,y1,y2)
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STEP 10: base-right(pr2,x2,x3,y2)
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STEP 11.0: base-right(pr2,x3,x4,y2)
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STEP 11.1: park(pr2)
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STEP 12.0: get-down(pr2,x4,y2,xrel0,x4,yrel0,y2,object0,y3)
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STEP 12.1: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2)
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STEP 13: put-right(pr2,x4,y2,xrel-1,x3,yrel0,y2,object0,x4)
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STEP 14: finish-object(object0,x4,y2) get-right(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,x4)
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STEP 15: gripper-right(pr2,x4,y2,xrel-1,xrel0,x3,x4,yrel0,y2)
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STEP 16.0: put-right(pr2,x4,y2,xrel0,x4,yrel0,y2,object2,x5)
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STEP 16.1: unpark(pr2,xrel0,yrel0)
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STEP 17: base-left(pr2,x4,x3,y2) finish-object(object2,x5,y2)
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STEP 18: base-left(pr2,x3,x2,y2)
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STEP 19.0: base-down(pr2,x2,y2,y3)
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STEP 19.1: park(pr2)
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STEP 20: gripper-down(pr2,x2,y3,xrel0,x2,yrel0,yrel1,y3,y4)
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STEP 21.0: get-left(pr2,x2,y3,xrel0,x2,yrel1,y4,object1,x1)
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STEP 21.1: gripper-up(pr2,x2,y3,xrel0,x2,yrel1,yrel0,y4,y3)
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STEP 22: gripper-right(pr2,x2,y3,xrel0,xrel1,x2,x3,yrel0,y3)
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STEP 23: put-right(pr2,x2,y3,xrel1,x3,yrel0,y3,object1,x4)
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STEP 24: finish-object(object1,x4,y3)
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34 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: 6.00 # [s]
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preprocessing: 4.67 # [s]
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maxLearnedClauseLength: 40520
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groundActions:
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afterParsing: 38105
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afterPreprocessing: 16229
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stateVariables:
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afterParsing: 759
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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: 25
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actions: 34
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iterations:
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...
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