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-12.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 53906 ground actions and 919 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 5.10 secs Goal: conjunctive Simplified: 27414 ground actions and 414 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.55 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 424 MB) Horizon 0: 414 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 139554 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 278694 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 417834 variables 15 UNSAT (0 decisions 0 conflicts) Allocated 32 MB permanent (total 932 MB) Horizon 20: 556974 variables Allocated 32 MB (total 964 MB) Horizon 25: 696114 variables Allocated 32 MB permanent (total 1239 MB) Horizon 30: 835254 variables Allocated 32 MB permanent (total 1405 MB) Horizon 35: 974394 variables Horizon 40: 1113534 variables Allocated 32 MB permanent (total 1729 MB) Horizon 45: 1252674 variables Allocated 32 MB permanent (total 1920 MB) Horizon 50: 1391814 variables Allocated 32 MB permanent (total 2119 MB) Allocated 32 MB permanent (total 2151 MB) Horizon 55: 1530954 variables Allocated 32 MB permanent (total 2358 MB) Horizon 60: 1670094 variables Allocated 32 MB permanent (total 2573 MB) Horizon 65: 1809234 variables Allocated 32 MB permanent (total 2797 MB) Allocated 32 MB permanent (total 2829 MB) Horizon 70: 1948374 variables Allocated 32 MB permanent (total 3061 MB) Horizon 75: 2087514 variables Allocated 32 MB permanent (total 3301 MB) Allocated 32 MB permanent (total 3333 MB) Horizon 80: 2226654 variables Allocated 32 MB (total 3365 MB) Allocated 32 MB permanent (total 3613 MB) Allocated 32 MB permanent (total 3645 MB) Horizon 85: 2365794 variables Allocated 32 MB permanent (total 3901 MB) Allocated 32 MB permanent (total 3933 MB) Horizon 90: 2504934 variables Allocated 32 MB permanent (total 4198 MB) Allocated 32 MB permanent (total 4230 MB) Horizon 95: 2644074 variables Allocated 32 MB permanent (total 4503 MB) Allocated 32 MB permanent (total 4535 MB) Horizon 100: 2783214 variables SAT (670 decisions 451 conflicts) PLAN FOUND: 65 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-left(pr2,x4,x3,y0) STEP 6: base-left(pr2,x3,x2,y0) STEP 7.0: base-down(pr2,x2,y0,y1) STEP 7.1: park(pr2) STEP 8.0: get-right(pr2,x2,y1,xrel0,x2,yrel0,y1,object3,x3) STEP 8.1: gripper-up(pr2,x2,y1,xrel0,x2,yrel0,yrel-1,y1,y0) STEP 9: gripper-right(pr2,x2,y1,xrel0,xrel1,x2,x3,yrel-1,y0) STEP 10: gripper-left(pr2,x2,y1,xrel1,xrel0,x3,x2,yrel-1,y0) STEP 11: gripper-down(pr2,x2,y1,xrel0,x2,yrel-1,yrel0,y0,y1) STEP 12: unpark(pr2,xrel0,yrel0) STEP 13: base-down(pr2,x2,y1,y2) STEP 14.0: base-left(pr2,x2,x1,y2) STEP 14.1: park(pr2) STEP 15: gripper-up(pr2,x1,y2,xrel0,x1,yrel0,yrel-1,y2,y1) STEP 16: gripper-down(pr2,x1,y2,xrel0,x1,yrel-1,yrel0,y1,y2) STEP 17: unpark(pr2,xrel0,yrel0) STEP 18: base-down(pr2,x1,y2,y3) STEP 19: base-down(pr2,x1,y3,y4) STEP 20: base-down(pr2,x1,y4,y5) STEP 21: base-down(pr2,x1,y5,y6) STEP 22: base-down(pr2,x1,y6,y7) STEP 23: base-right(pr2,x1,x2,y7) STEP 24.0: base-right(pr2,x2,x3,y7) STEP 24.1: park(pr2) STEP 25: gripper-up(pr2,x3,y7,xrel0,x3,yrel0,yrel-1,y7,y6) STEP 26.0: put-up(pr2,x3,y7,xrel0,x3,yrel-1,y6,object3,y5) STEP 26.1: gripper-down(pr2,x3,y7,xrel0,x3,yrel-1,yrel0,y6,y7) STEP 27: unpark(pr2,xrel0,yrel0) STEP 28.0: base-down(pr2,x3,y7,y8) STEP 28.1: park(pr2) STEP 29: gripper-right(pr2,x3,y8,xrel0,xrel1,x3,x4,yrel0,y8) STEP 30: gripper-left(pr2,x3,y8,xrel1,xrel0,x4,x3,yrel0,y8) STEP 31: unpark(pr2,xrel0,yrel0) STEP 32: base-down(pr2,x3,y8,y9) STEP 33: base-up(pr2,x3,y9,y8) STEP 34: base-up(pr2,x3,y8,y7) STEP 35: base-up(pr2,x3,y7,y6) STEP 36.0: base-up(pr2,x3,y6,y5) STEP 36.1: park(pr2) STEP 37.0: get-up(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y4) STEP 37.1: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel0,y5) STEP 38: put-left(pr2,x3,y5,xrel1,x4,yrel0,y5,object1,x3) STEP 39: finish-object(object1,x3,y5) get-up(pr2,x3,y5,xrel1,x4,yrel0,y5,object0,y4) STEP 40: gripper-up(pr2,x3,y5,xrel1,x4,yrel0,yrel-1,y5,y4) STEP 41: put-left(pr2,x3,y5,xrel1,x4,yrel-1,y4,object0,x3) STEP 42: finish-object(object0,x3,y4) gripper-down(pr2,x3,y5,xrel1,x4,yrel-1,yrel0,y4,y5) STEP 43: get-left(pr2,x3,y5,xrel1,x4,yrel0,y5,object3,x3) STEP 44: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel0,y5) STEP 45.0: put-right(pr2,x3,y5,xrel0,x3,yrel0,y5,object3,x4) STEP 45.1: unpark(pr2,xrel0,yrel0) STEP 46: base-down(pr2,x3,y5,y6) finish-object(object3,x4,y5) STEP 47: base-right(pr2,x3,x4,y6) STEP 48: base-down(pr2,x4,y6,y7) STEP 49: base-right(pr2,x4,x5,y7) STEP 50: base-right(pr2,x5,x6,y7) STEP 51: base-up(pr2,x6,y7,y6) STEP 52: base-up(pr2,x6,y6,y5) STEP 53: base-up(pr2,x6,y5,y4) STEP 54: base-up(pr2,x6,y4,y3) STEP 55.0: base-up(pr2,x6,y3,y2) STEP 55.1: park(pr2) STEP 56: gripper-left(pr2,x6,y2,xrel0,xrel-1,x6,x5,yrel0,y2) STEP 57.0: get-up(pr2,x6,y2,xrel-1,x5,yrel0,y2,object2,y1) STEP 57.1: gripper-right(pr2,x6,y2,xrel-1,xrel0,x5,x6,yrel0,y2) STEP 58: unpark(pr2,xrel0,yrel0) STEP 59: base-left(pr2,x6,x5,y2) STEP 60.0: base-left(pr2,x5,x4,y2) STEP 60.1: park(pr2) STEP 61: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2) STEP 62: put-up(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,y1) STEP 63: finish-object(object2,x3,y1) 79 actions in the plan. total time 40.97 preprocess 12.58 total size 4.781 GB max. learned clause length 123877 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 0 0 15 0 0 0 20 -1 1024 1136 25 -1 960 1089 30 -1 903 1096 35 -1 780 1017 40 -1 720 977 45 -1 660 908 50 -1 601 805 55 -1 541 761 60 -1 481 698 65 1 451 670