Madagascar 0.99999 31/01/2018 20:14:07 amd64 1-core (no VSIDS) 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-6.pddlignoring --stats ignoring --stats-iter ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 38501 ground actions and 762 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 2.38 secs Goal: conjunctive Simplified: 13826 ground actions and 340 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.75 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 251 MB) Horizon 0: 340 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 71170 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 142000 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 212830 variables Allocated 32 MB (total 620 MB) 15 UNSAT (56 decisions 56 conflicts) Horizon 20: 283660 variables Horizon 25: 354490 variables Allocated 32 MB permanent (total 944 MB) Horizon 30: 425320 variables Horizon 35: 496150 variables Horizon 40: 566980 variables Allocated 32 MB permanent (total 1305 MB) Horizon 45: 637810 variables Horizon 50: 708640 variables Allocated 32 MB permanent (total 1578 MB) Horizon 55: 779470 variables Allocated 32 MB (total 1610 MB) Allocated 32 MB permanent (total 1769 MB) Horizon 60: 850300 variables Horizon 65: 921130 variables Allocated 32 MB (total 1931 MB) Allocated 32 MB permanent (total 2098 MB) Horizon 70: 991960 variables Allocated 32 MB permanent (total 2270 MB) Horizon 75: 1062790 variables Horizon 80: 1133620 variables Allocated 32 MB (total 2445 MB) Allocated 32 MB permanent (total 2625 MB) Horizon 85: 1204450 variables Allocated 32 MB (total 2657 MB) Allocated 32 MB permanent (total 2840 MB) Horizon 90: 1275280 variables Allocated 32 MB (total 2872 MB) Allocated 32 MB permanent (total 3060 MB) Horizon 95: 1346110 variables Allocated 32 MB permanent (total 3252 MB) Horizon 100: 1416940 variables Allocated 32 MB permanent (total 3449 MB) Horizon 105: 1487770 variables Allocated 32 MB (total 3481 MB) Allocated 32 MB (total 3513 MB) Allocated 32 MB permanent (total 3713 MB) Horizon 110: 1558600 variables Allocated 32 MB permanent (total 3918 MB) Allocated 32 MB permanent (total 3950 MB) Horizon 115: 1629430 variables Allocated 32 MB (total 3982 MB) Allocated 32 MB (total 4014 MB) 20 UNSAT (1397 decisions 1287 conflicts) Allocated 32 MB permanent (total 4223 MB) Horizon 120: 1700260 variables Allocated 32 MB (total 4255 MB) Allocated 32 MB (total 4287 MB) Allocated 32 MB (total 4319 MB) Allocated 32 MB (total 4351 MB) Allocated 32 MB (total 4383 MB) Allocated 32 MB (total 4415 MB) Allocated 32 MB (total 4447 MB) Allocated 32 MB (total 4479 MB) GC: 439.33 MB Allocated 32 MB (total 4511 MB) Allocated 32 MB (total 4543 MB) Allocated 32 MB (total 4575 MB) Allocated 32 MB (total 4607 MB) Allocated 32 MB (total 4639 MB) Allocated 32 MB (total 4671 MB) Allocated 32 MB (total 4703 MB) Allocated 32 MB (total 4735 MB) Allocated 32 MB (total 4767 MB) Allocated 32 MB (total 4799 MB) Allocated 32 MB (total 4831 MB) Allocated 32 MB (total 4863 MB) Allocated 32 MB (total 4895 MB) GC: 584.67 MB Allocated 32 MB (total 4927 MB) Allocated 32 MB (total 4959 MB) Allocated 32 MB (total 4991 MB) Allocated 32 MB (total 5023 MB) Allocated 32 MB (total 5055 MB) Allocated 32 MB (total 5087 MB) Allocated 32 MB (total 5119 MB) Allocated 32 MB (total 5151 MB) Allocated 32 MB (total 5183 MB) Allocated 32 MB (total 5215 MB) Allocated 32 MB (total 5247 MB) Allocated 32 MB (total 5279 MB) Allocated 32 MB (total 5311 MB) Allocated 32 MB (total 5343 MB) Allocated 32 MB (total 5375 MB) Allocated 32 MB (total 5407 MB) Allocated 32 MB (total 5439 MB) GC: 1025.10 MB 25 UNSAT (7983 decisions 7053 conflicts) Allocated 32 MB permanent (total 5652 MB) Horizon 125: 1771090 variables SAT (23 ID 2598 decisions 1311 conflicts 1629430 variables) PLAN FOUND: 115 steps STEP 0: unpark(pr2,xrel0,yrel0) STEP 1: base-right(pr2,x0,x1,y0) STEP 2: base-right(pr2,x1,x2,y0) STEP 3: base-down(pr2,x2,y0,y1) STEP 4: base-down(pr2,x2,y1,y2) STEP 5: base-up(pr2,x2,y2,y1) STEP 6: base-up(pr2,x2,y1,y0) STEP 7.0: base-right(pr2,x2,x3,y0) STEP 7.1: park(pr2) STEP 8: gripper-right(pr2,x3,y0,xrel0,xrel1,x3,x4,yrel0,y0) STEP 9: gripper-left(pr2,x3,y0,xrel1,xrel0,x4,x3,yrel0,y0) STEP 10: unpark(pr2,xrel0,yrel0) STEP 11: base-left(pr2,x3,x2,y0) STEP 12: base-down(pr2,x2,y0,y1) STEP 13: base-down(pr2,x2,y1,y2) STEP 14.0: base-down(pr2,x2,y2,y3) STEP 14.1: park(pr2) STEP 15: gripper-left(pr2,x2,y3,xrel0,xrel-1,x2,x1,yrel0,y3) STEP 16.0: get-down(pr2,x2,y3,xrel-1,x1,yrel0,y3,object2,y4) STEP 16.1: gripper-right(pr2,x2,y3,xrel-1,xrel0,x1,x2,yrel0,y3) STEP 17.0: put-left(pr2,x2,y3,xrel0,x2,yrel0,y3,object2,x1) STEP 17.1: unpark(pr2,xrel0,yrel0) STEP 18: base-up(pr2,x2,y3,y2) STEP 19: base-up(pr2,x2,y2,y1) STEP 20: base-up(pr2,x2,y1,y0) STEP 21: base-right(pr2,x2,x3,y0) STEP 22: base-right(pr2,x3,x4,y0) STEP 23.0: base-down(pr2,x4,y0,y1) STEP 23.1: park(pr2) STEP 24: gripper-up(pr2,x4,y1,xrel0,x4,yrel0,yrel-1,y1,y0) STEP 25: gripper-down(pr2,x4,y1,xrel0,x4,yrel-1,yrel0,y0,y1) STEP 26: unpark(pr2,xrel0,yrel0) STEP 27: base-down(pr2,x4,y1,y2) STEP 28.0: base-right(pr2,x4,x5,y2) STEP 28.1: park(pr2) STEP 29: get-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object0,y3) STEP 30.0: put-left(pr2,x5,y2,xrel0,x5,yrel0,y2,object0,x4) STEP 30.1: unpark(pr2,xrel0,yrel0) STEP 31: base-left(pr2,x5,x4,y2) finish-object(object0,x4,y2) STEP 32: base-up(pr2,x4,y2,y1) STEP 33: base-up(pr2,x4,y1,y0) STEP 34: base-left(pr2,x4,x3,y0) STEP 35: base-left(pr2,x3,x2,y0) STEP 36: base-down(pr2,x2,y0,y1) STEP 37: base-down(pr2,x2,y1,y2) STEP 38: base-left(pr2,x2,x1,y2) STEP 39.0: base-right(pr2,x1,x2,y2) STEP 39.1: park(pr2) STEP 40: gripper-left(pr2,x2,y2,xrel0,xrel-1,x2,x1,yrel0,y2) STEP 41.0: get-down(pr2,x2,y2,xrel-1,x1,yrel0,y2,object2,y3) STEP 41.1: gripper-right(pr2,x2,y2,xrel-1,xrel0,x1,x2,yrel0,y2) STEP 42: unpark(pr2,xrel0,yrel0) STEP 43: base-up(pr2,x2,y2,y1) STEP 44: base-up(pr2,x2,y1,y0) STEP 45: base-right(pr2,x2,x3,y0) STEP 46: base-right(pr2,x3,x4,y0) STEP 47: base-down(pr2,x4,y0,y1) STEP 48: base-down(pr2,x4,y1,y2) STEP 49: base-right(pr2,x4,x5,y2) STEP 50: base-up(pr2,x5,y2,y1) STEP 51: base-up(pr2,x5,y1,y0) STEP 52: base-right(pr2,x5,x6,y0) STEP 53: base-right(pr2,x6,x7,y0) STEP 54: base-down(pr2,x7,y0,y1) STEP 55: base-down(pr2,x7,y1,y2) STEP 56: base-right(pr2,x7,x8,y2) STEP 57: base-up(pr2,x8,y2,y1) STEP 58: base-up(pr2,x8,y1,y0) STEP 59: base-left(pr2,x8,x7,y0) STEP 60: base-right(pr2,x7,x8,y0) STEP 61.0: base-left(pr2,x8,x7,y0) STEP 61.1: park(pr2) STEP 62: unpark(pr2,xrel0,yrel0) STEP 63: base-left(pr2,x7,x6,y0) STEP 64: base-left(pr2,x6,x5,y0) STEP 65.0: base-down(pr2,x5,y0,y1) STEP 65.1: park(pr2) STEP 66: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2) STEP 67: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1) STEP 68.0: put-down(pr2,x5,y1,xrel0,x5,yrel0,y1,object2,y2) STEP 68.1: unpark(pr2,xrel0,yrel0) STEP 69: base-up(pr2,x5,y1,y0) finish-object(object2,x5,y2) STEP 70: base-right(pr2,x5,x6,y0) STEP 71: base-right(pr2,x6,x7,y0) STEP 72: base-down(pr2,x7,y0,y1) STEP 73: base-down(pr2,x7,y1,y2) STEP 74: base-down(pr2,x7,y2,y3) STEP 75: base-down(pr2,x7,y3,y4) STEP 76: base-down(pr2,x7,y4,y5) STEP 77: base-left(pr2,x7,x6,y5) STEP 78: base-left(pr2,x6,x5,y5) STEP 79: base-left(pr2,x5,x4,y5) STEP 80: base-down(pr2,x4,y5,y6) STEP 81.0: base-down(pr2,x4,y6,y7) STEP 81.1: park(pr2) STEP 82: gripper-up(pr2,x4,y7,xrel0,x4,yrel0,yrel-1,y7,y6) STEP 83: gripper-right(pr2,x4,y7,xrel0,xrel1,x4,x5,yrel-1,y6) STEP 84.0: get-right(pr2,x4,y7,xrel1,x5,yrel-1,y6,object1,x6) STEP 84.1: gripper-left(pr2,x4,y7,xrel1,xrel0,x5,x4,yrel-1,y6) STEP 85: gripper-left(pr2,x4,y7,xrel0,xrel-1,x4,x3,yrel-1,y6) STEP 86.0: put-left(pr2,x4,y7,xrel-1,x3,yrel-1,y6,object1,x2) STEP 86.1: gripper-down(pr2,x4,y7,xrel-1,x3,yrel-1,yrel0,y6,y7) STEP 87: finish-object(object1,x2,y6) gripper-right(pr2,x4,y7,xrel-1,xrel0,x3,x4,yrel0,y7) STEP 88: unpark(pr2,xrel0,yrel0) STEP 89: park(pr2) STEP 90: gripper-right(pr2,x4,y7,xrel0,xrel1,x4,x5,yrel0,y7) STEP 91: gripper-left(pr2,x4,y7,xrel1,xrel0,x5,x4,yrel0,y7) STEP 92: unpark(pr2,xrel0,yrel0) STEP 93: base-up(pr2,x4,y7,y6) STEP 94: base-left(pr2,x4,x3,y6) STEP 95: base-up(pr2,x3,y6,y5) STEP 96: base-left(pr2,x3,x2,y5) STEP 97.0: base-up(pr2,x2,y5,y4) STEP 97.1: park(pr2) STEP 98: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5) STEP 99: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel1,y5) STEP 100.0: get-down(pr2,x2,y4,xrel-1,x1,yrel1,y5,object3,y6) STEP 100.1: gripper-up(pr2,x2,y4,xrel-1,x1,yrel1,yrel0,y5,y4) STEP 101: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4) STEP 102: unpark(pr2,xrel0,yrel0) STEP 103: base-up(pr2,x2,y4,y3) STEP 104: base-up(pr2,x2,y3,y2) STEP 105: base-up(pr2,x2,y2,y1) STEP 106: base-up(pr2,x2,y1,y0) STEP 107: base-right(pr2,x2,x3,y0) STEP 108: base-right(pr2,x3,x4,y0) STEP 109: base-down(pr2,x4,y0,y1) STEP 110: base-down(pr2,x4,y1,y2) STEP 111.0: base-right(pr2,x4,x5,y2) STEP 111.1: park(pr2) STEP 112: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y3) STEP 113: finish-object(object3,x5,y3) 135 actions in the plan. # statistics in YAML format --- runtime: total: 271.78 # [s] preprocessing: 4.53 # [s] maxLearnedClauseLength: 184154 groundActions: afterParsing: 38501 afterPreprocessing: 13826 stateVariables: afterParsing: 762 afterPreprocessing: 340 stronglyConnectedComponents: maxSize: 10 plan: found: true length: 115 actions: 135 iterations: - horizon: 0 result: unsatisfiable conflicts: 0 decisions: 0 variables: 340 - horizon: 5 result: unsatisfiable conflicts: 0 decisions: 0 variables: 71170 - horizon: 10 result: unsatisfiable conflicts: 0 decisions: 0 variables: 142000 - horizon: 15 result: unsatisfiable conflicts: 56 decisions: 56 variables: 212830 - horizon: 20 result: unsatisfiable conflicts: 1287 decisions: 1397 variables: 283660 - horizon: 25 result: unsatisfiable conflicts: 7053 decisions: 7983 variables: 354490 - horizon: 30 result: unknown conflicts: 7384 decisions: 11017 variables: 425320 - horizon: 35 result: unknown conflicts: 6728 decisions: 9753 variables: 496150 - horizon: 40 result: unknown conflicts: 6067 decisions: 8127 variables: 566980 - horizon: 45 result: unknown conflicts: 5471 decisions: 7810 variables: 637810 - horizon: 50 result: unknown conflicts: 4929 decisions: 7125 variables: 708640 - horizon: 55 result: unknown conflicts: 4450 decisions: 6602 variables: 779470 - horizon: 60 result: unknown conflicts: 3961 decisions: 6177 variables: 850300 - horizon: 65 result: unknown conflicts: 3610 decisions: 5650 variables: 921130 - horizon: 70 result: unknown conflicts: 3245 decisions: 5338 variables: 991960 - horizon: 75 result: unknown conflicts: 2944 decisions: 4829 variables: 1062790 - horizon: 80 result: unknown conflicts: 2640 decisions: 4440 variables: 1133620 - horizon: 85 result: unknown conflicts: 2402 decisions: 4337 variables: 1204450 - horizon: 90 result: unknown conflicts: 2164 decisions: 3776 variables: 1275280 - horizon: 95 result: unknown conflicts: 1922 decisions: 3489 variables: 1346110 - horizon: 100 result: unknown conflicts: 1749 decisions: 3250 variables: 1416940 - horizon: 105 result: unknown conflicts: 1563 decisions: 2980 variables: 1487770 - horizon: 110 result: unknown conflicts: 1442 decisions: 2814 variables: 1558600 - horizon: 115 result: satisfiable conflicts: 1311 decisions: 2598 variables: 1629430 - horizon: 120 result: unknown conflicts: 1141 decisions: 2011 variables: 1700260 - horizon: 125 result: unknown conflicts: 902 decisions: 1683 variables: 1771090 ...