Madagascar 0.99999 25/02/2015 09:46:27 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-10.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 54878 ground actions and 926 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 4.73 secs Goal: conjunctive Simplified: 21539 ground actions and 419 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.18 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 347 MB) Horizon 0: 419 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 110209 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 219999 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 329789 variables 15 UNSAT (0 decisions 0 conflicts) Horizon 20: 439579 variables Allocated 32 MB (total 835 MB) Allocated 32 MB permanent (total 976 MB) Horizon 25: 549369 variables Horizon 30: 659159 variables Allocated 32 MB permanent (total 1245 MB) Horizon 35: 768949 variables Horizon 40: 878739 variables Allocated 32 MB permanent (total 1540 MB) Horizon 45: 988529 variables Allocated 32 MB permanent (total 1714 MB) Horizon 50: 1098319 variables Allocated 32 MB permanent (total 1893 MB) Horizon 55: 1208109 variables Allocated 32 MB permanent (total 2080 MB) Horizon 60: 1317899 variables Allocated 32 MB permanent (total 2272 MB) Horizon 65: 1427689 variables Allocated 32 MB permanent (total 2472 MB) Horizon 70: 1537479 variables Allocated 32 MB permanent (total 2677 MB) Horizon 75: 1647269 variables Allocated 32 MB permanent (total 2890 MB) Allocated 32 MB permanent (total 2922 MB) Horizon 80: 1757059 variables SAT (407 decisions 251 conflicts) PLAN FOUND: 60 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-right(pr2,x2,x3,y0) STEP 4: base-right(pr2,x3,x4,y0) STEP 5: base-right(pr2,x4,x5,y0) STEP 6: base-right(pr2,x5,x6,y0) STEP 7.0: base-down(pr2,x6,y0,y1) STEP 7.1: park(pr2) STEP 8.0: get-left(pr2,x6,y1,xrel0,x6,yrel0,y1,object3,x5) STEP 8.1: gripper-up(pr2,x6,y1,xrel0,x6,yrel0,yrel-1,y1,y0) STEP 9: gripper-left(pr2,x6,y1,xrel0,xrel-1,x6,x5,yrel-1,y0) STEP 10: gripper-down(pr2,x6,y1,xrel-1,x5,yrel-1,yrel0,y0,y1) STEP 11.0: put-left(pr2,x6,y1,xrel-1,x5,yrel0,y1,object3,x4) STEP 11.1: gripper-right(pr2,x6,y1,xrel-1,xrel0,x5,x6,yrel0,y1) STEP 12: unpark(pr2,xrel0,yrel0) STEP 13: base-down(pr2,x6,y1,y2) STEP 14: base-down(pr2,x6,y2,y3) STEP 15: base-down(pr2,x6,y3,y4) STEP 16.0: base-down(pr2,x6,y4,y5) STEP 16.1: park(pr2) STEP 17: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6) STEP 18: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5) STEP 19: unpark(pr2,xrel0,yrel0) STEP 20: base-left(pr2,x6,x5,y5) STEP 21.0: base-down(pr2,x5,y5,y6) STEP 21.1: park(pr2) STEP 22: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6) STEP 23.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3) STEP 23.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5) STEP 24.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3) STEP 24.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6) STEP 25: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6) STEP 26: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6) STEP 27.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7) STEP 27.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6) STEP 28: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6) STEP 29.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3) STEP 29.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6) STEP 30: finish-object(object1,x3,y6) unpark(pr2,xrel0,yrel0) STEP 31: base-up(pr2,x5,y6,y5) STEP 32: base-right(pr2,x5,x6,y5) STEP 33: base-up(pr2,x6,y5,y4) STEP 34.0: base-up(pr2,x6,y4,y3) STEP 34.1: park(pr2) STEP 35: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3) STEP 36: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel0,y3) STEP 37: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3) STEP 38: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2) STEP 39.0: get-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object2,x4) STEP 39.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2) STEP 40: gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3) STEP 41: unpark(pr2,xrel0,yrel0) STEP 42: base-down(pr2,x6,y3,y4) STEP 43.0: base-down(pr2,x6,y4,y5) STEP 43.1: park(pr2) STEP 44: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5) STEP 45.0: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4) STEP 45.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel0,y5) STEP 46: finish-object(object2,x4,y5) unpark(pr2,xrel0,yrel0) STEP 47.0: base-down(pr2,x6,y5,y6) STEP 47.1: park(pr2) STEP 48: unpark(pr2,xrel0,yrel0) STEP 49: base-up(pr2,x6,y6,y5) STEP 50: base-up(pr2,x6,y5,y4) STEP 51: base-up(pr2,x6,y4,y3) STEP 52: base-left(pr2,x6,x5,y3) STEP 53.0: base-left(pr2,x5,x4,y3) STEP 53.1: park(pr2) STEP 54: gripper-up(pr2,x4,y3,xrel0,x4,yrel0,yrel-1,y3,y2) STEP 55.0: get-up(pr2,x4,y3,xrel0,x4,yrel-1,y2,object3,y1) STEP 55.1: gripper-left(pr2,x4,y3,xrel0,xrel-1,x4,x3,yrel-1,y2) STEP 56: put-right(pr2,x4,y3,xrel-1,x3,yrel-1,y2,object3,x4) STEP 57: finish-object(object3,x4,y2) 77 actions in the plan. total time 21.21 preprocess 9.57 total size 3.140 GB max. learned clause length 72981 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 0 0 15 0 0 0 20 -1 782 860 25 -1 722 891 30 -1 660 944 35 -1 600 740 40 -1 540 731 45 -1 481 700 50 -1 421 633 55 -1 360 503 60 1 251 407