116 lines
4.1 KiB
Plaintext
116 lines
4.1 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-9.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: 54902 ground actions and 926 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 4.01 secs
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Goal: conjunctive
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Simplified: 21972 ground actions and 421 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.68 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 352 MB)
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Allocated 32 MB permanent (total 544 MB)
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Horizon 60: 1344001 variables
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Allocated 32 MB (total 581 MB)
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SAT (0 ID 897 decisions 513 conflicts 1344001 variables)
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PLAN FOUND: 60 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: base-right(pr2,x1,x2,y0)
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STEP 5: base-right(pr2,x2,x3,y0)
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STEP 6.0: base-right(pr2,x3,x4,y0)
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STEP 6.1: park(pr2)
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STEP 7: gripper-down(pr2,x4,y0,xrel0,x4,yrel0,yrel1,y0,y1)
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STEP 8: gripper-right(pr2,x4,y0,xrel0,xrel1,x4,x5,yrel1,y1)
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STEP 9.0: get-down(pr2,x4,y0,xrel1,x5,yrel1,y1,object0,y2)
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STEP 9.1: gripper-left(pr2,x4,y0,xrel1,xrel0,x5,x4,yrel1,y1)
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STEP 10.0: put-down(pr2,x4,y0,xrel0,x4,yrel1,y1,object0,y2)
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STEP 10.1: gripper-up(pr2,x4,y0,xrel0,x4,yrel1,yrel0,y1,y0)
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STEP 11: finish-object(object0,x4,y2) unpark(pr2,xrel0,yrel0)
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STEP 12.0: base-down(pr2,x4,y0,y1)
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STEP 12.1: park(pr2)
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STEP 13: gripper-right(pr2,x4,y1,xrel0,xrel1,x4,x5,yrel0,y1)
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STEP 14: gripper-down(pr2,x4,y1,xrel1,x5,yrel0,yrel1,y1,y2)
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STEP 15: gripper-up(pr2,x4,y1,xrel1,x5,yrel1,yrel0,y2,y1)
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STEP 16: gripper-left(pr2,x4,y1,xrel1,xrel0,x5,x4,yrel0,y1)
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STEP 17: unpark(pr2,xrel0,yrel0)
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STEP 18: base-up(pr2,x4,y1,y0)
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STEP 19: base-left(pr2,x4,x3,y0)
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STEP 20: base-left(pr2,x3,x2,y0)
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STEP 21: base-down(pr2,x2,y0,y1)
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STEP 22: base-down(pr2,x2,y1,y2)
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STEP 23: base-down(pr2,x2,y2,y3)
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STEP 24: base-down(pr2,x2,y3,y4)
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STEP 25: base-down(pr2,x2,y4,y5)
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STEP 26: base-down(pr2,x2,y5,y6)
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STEP 27: base-right(pr2,x2,x3,y6)
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STEP 28: base-down(pr2,x3,y6,y7)
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STEP 29: base-down(pr2,x3,y7,y8)
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STEP 30: base-right(pr2,x3,x4,y8)
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STEP 31: base-right(pr2,x4,x5,y8)
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STEP 32.0: base-right(pr2,x5,x6,y8)
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STEP 32.1: park(pr2)
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STEP 33: unpark(pr2,xrel0,yrel0)
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STEP 34.0: base-left(pr2,x6,x5,y8)
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STEP 34.1: park(pr2)
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STEP 35.0: get-up(pr2,x5,y8,xrel0,x5,yrel0,y8,object1,y7)
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STEP 35.1: gripper-right(pr2,x5,y8,xrel0,xrel1,x5,x6,yrel0,y8)
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STEP 36: gripper-up(pr2,x5,y8,xrel1,x6,yrel0,yrel-1,y8,y7)
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STEP 37.0: put-right(pr2,x5,y8,xrel1,x6,yrel-1,y7,object1,x7)
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STEP 37.1: gripper-down(pr2,x5,y8,xrel1,x6,yrel-1,yrel0,y7,y8)
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STEP 38: finish-object(object1,x7,y7) gripper-left(pr2,x5,y8,xrel1,xrel0,x6,x5,yrel0,y8)
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STEP 39: unpark(pr2,xrel0,yrel0)
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STEP 40: base-right(pr2,x5,x6,y8)
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STEP 41: base-up(pr2,x6,y8,y7)
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STEP 42: base-up(pr2,x6,y7,y6)
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STEP 43: base-up(pr2,x6,y6,y5)
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STEP 44: base-right(pr2,x6,x7,y5)
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STEP 45: base-up(pr2,x7,y5,y4)
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STEP 46: base-up(pr2,x7,y4,y3)
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STEP 47: base-up(pr2,x7,y3,y2)
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STEP 48: base-up(pr2,x7,y2,y1)
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STEP 49.0: base-up(pr2,x7,y1,y0)
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STEP 49.1: park(pr2)
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STEP 50: unpark(pr2,xrel0,yrel0)
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STEP 51: base-left(pr2,x7,x6,y0)
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STEP 52.0: base-left(pr2,x6,x5,y0)
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STEP 52.1: park(pr2)
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STEP 53: unpark(pr2,xrel0,yrel0)
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STEP 54: base-down(pr2,x5,y0,y1)
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STEP 55: base-down(pr2,x5,y1,y2)
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STEP 56.0: base-down(pr2,x5,y2,y3)
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STEP 56.1: park(pr2)
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STEP 57: get-left(pr2,x5,y3,xrel0,x5,yrel0,y3,object2,x4)
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STEP 58: put-up(pr2,x5,y3,xrel0,x5,yrel0,y3,object2,y2)
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STEP 59: finish-object(object2,x5,y2)
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74 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: 13.66 # [s]
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preprocessing: 9.42 # [s]
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maxLearnedClauseLength: 185413
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groundActions:
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afterParsing: 54902
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afterPreprocessing: 21972
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stateVariables:
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afterParsing: 926
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afterPreprocessing: 421
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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: 74
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iterations:
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...
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