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-16.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 54072 ground actions and 918 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 5.03 secs Goal: conjunctive Simplified: 26722 ground actions and 415 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.25 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 414 MB) Horizon 0: 415 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 136100 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 271785 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 407470 variables Allocated 32 MB (total 811 MB) Allocated 32 MB permanent (total 951 MB) Horizon 20: 543155 variables Horizon 25: 678840 variables 15 UNSAT (160 decisions 156 conflicts) Allocated 32 MB permanent (total 1224 MB) Horizon 30: 814525 variables Horizon 35: 950210 variables Allocated 32 MB permanent (total 1529 MB) Horizon 40: 1085895 variables Allocated 32 MB permanent (total 1710 MB) Horizon 45: 1221580 variables Allocated 32 MB permanent (total 1899 MB) Horizon 50: 1357265 variables Allocated 32 MB permanent (total 2095 MB) Horizon 55: 1492950 variables Allocated 32 MB permanent (total 2300 MB) Allocated 32 MB permanent (total 2332 MB) Horizon 60: 1628635 variables Allocated 32 MB permanent (total 2544 MB) Horizon 65: 1764320 variables Allocated 32 MB permanent (total 2765 MB) Horizon 70: 1900005 variables Allocated 32 MB permanent (total 2994 MB) Allocated 32 MB permanent (total 3026 MB) Horizon 75: 2035690 variables Allocated 32 MB permanent (total 3263 MB) Allocated 32 MB permanent (total 3295 MB) Horizon 80: 2171375 variables Allocated 32 MB (total 3327 MB) Allocated 32 MB permanent (total 3571 MB) Horizon 85: 2307060 variables Allocated 32 MB permanent (total 3824 MB) Allocated 32 MB permanent (total 3856 MB) Horizon 90: 2442745 variables Allocated 32 MB permanent (total 4117 MB) Allocated 32 MB permanent (total 4149 MB) Horizon 95: 2578430 variables Allocated 32 MB permanent (total 4418 MB) Allocated 32 MB permanent (total 4450 MB) Horizon 100: 2714115 variables Allocated 32 MB permanent (total 4727 MB) Allocated 32 MB permanent (total 4759 MB) Allocated 32 MB permanent (total 4791 MB) Horizon 105: 2849800 variables Allocated 32 MB permanent (total 5075 MB) Allocated 32 MB permanent (total 5107 MB) Horizon 110: 2985485 variables Allocated 32 MB (total 5139 MB) Allocated 32 MB permanent (total 5432 MB) Allocated 32 MB permanent (total 5464 MB) Horizon 115: 3121170 variables Allocated 32 MB (total 5496 MB) Allocated 32 MB (total 5528 MB) Allocated 32 MB (total 5560 MB) GC: 125.99 MB SAT (984 decisions 576 conflicts) PLAN FOUND: 95 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-left(pr2,x2,x1,y0) STEP 4: base-down(pr2,x1,y0,y1) STEP 5: base-right(pr2,x1,x2,y1) STEP 6: base-down(pr2,x2,y1,y2) STEP 7: base-up(pr2,x2,y2,y1) STEP 8: base-left(pr2,x2,x1,y1) STEP 9: grasp-cart-left(pr2,cart,x1,y1,x0) STEP 10.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0) STEP 10.1: ungrasp-cart(pr2,cart) STEP 11.0: base-right(pr2,x1,x2,y0) STEP 11.1: park(pr2) STEP 12: gripper-down(pr2,x2,y0,xrel0,x2,yrel0,yrel1,y0,y1) STEP 13: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel1,y1) STEP 14: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0) STEP 15: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0) STEP 16: unpark(pr2,xrel0,yrel0) STEP 17.0: base-down(pr2,x2,y0,y1) STEP 17.1: park(pr2) STEP 18: gripper-left(pr2,x2,y1,xrel0,xrel-1,x2,x1,yrel0,y1) STEP 19: gripper-right(pr2,x2,y1,xrel-1,xrel0,x1,x2,yrel0,y1) STEP 20: unpark(pr2,xrel0,yrel0) STEP 21: base-right(pr2,x2,x3,y1) STEP 22: base-right(pr2,x3,x4,y1) STEP 23: base-right(pr2,x4,x5,y1) STEP 24: base-down(pr2,x5,y1,y2) STEP 25: base-down(pr2,x5,y2,y3) STEP 26: base-down(pr2,x5,y3,y4) STEP 27: base-down(pr2,x5,y4,y5) STEP 28: base-down(pr2,x5,y5,y6) STEP 29: base-left(pr2,x5,x4,y6) STEP 30: base-right(pr2,x4,x5,y6) STEP 31: base-up(pr2,x5,y6,y5) STEP 32: base-up(pr2,x5,y5,y4) STEP 33: base-up(pr2,x5,y4,y3) STEP 34: base-up(pr2,x5,y3,y2) STEP 35: base-down(pr2,x5,y2,y3) STEP 36: base-down(pr2,x5,y3,y4) STEP 37: base-down(pr2,x5,y4,y5) STEP 38.0: base-down(pr2,x5,y5,y6) STEP 38.1: park(pr2) STEP 39: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7) STEP 40: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7) STEP 41.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3) STEP 41.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7) STEP 42: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6) STEP 43: unpark(pr2,xrel0,yrel0) STEP 44: base-up(pr2,x5,y6,y5) STEP 45: base-up(pr2,x5,y5,y4) STEP 46: base-up(pr2,x5,y4,y3) STEP 47: base-up(pr2,x5,y3,y2) STEP 48: base-up(pr2,x5,y2,y1) STEP 49: base-left(pr2,x5,x4,y1) STEP 50: base-left(pr2,x4,x3,y1) STEP 51: base-left(pr2,x3,x2,y1) STEP 52.0: base-down(pr2,x2,y1,y2) STEP 52.1: park(pr2) STEP 53.0: put-down(pr2,x2,y2,xrel0,x2,yrel0,y2,object0,y3) STEP 53.1: unpark(pr2,xrel0,yrel0) STEP 54: base-down(pr2,x2,y2,y3) finish-object(object0,x2,y3) STEP 55.0: base-down(pr2,x2,y3,y4) STEP 55.1: park(pr2) STEP 56.0: get-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object1,x3) STEP 56.1: unpark(pr2,xrel0,yrel0) STEP 57: base-up(pr2,x2,y4,y3) STEP 58.0: base-down(pr2,x2,y3,y4) STEP 58.1: park(pr2) STEP 59: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4) STEP 60: put-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object1,x2) STEP 61: finish-object(object1,x2,y4) get-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,x2) STEP 62: put-up(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,y3) STEP 63: finish-object(object2,x3,y3) gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4) STEP 64: unpark(pr2,xrel0,yrel0) STEP 65: base-up(pr2,x2,y4,y3) STEP 66: base-up(pr2,x2,y3,y2) STEP 67: base-up(pr2,x2,y2,y1) STEP 68: base-right(pr2,x2,x3,y1) STEP 69: base-right(pr2,x3,x4,y1) STEP 70.0: base-right(pr2,x4,x5,y1) STEP 70.1: park(pr2) STEP 71: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2) STEP 72: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1) STEP 73: unpark(pr2,xrel0,yrel0) STEP 74: base-left(pr2,x5,x4,y1) STEP 75: base-left(pr2,x4,x3,y1) STEP 76: base-right(pr2,x3,x4,y1) STEP 77.0: base-right(pr2,x4,x5,y1) STEP 77.1: park(pr2) STEP 78: gripper-right(pr2,x5,y1,xrel0,xrel1,x5,x6,yrel0,y1) STEP 79: gripper-left(pr2,x5,y1,xrel1,xrel0,x6,x5,yrel0,y1) STEP 80: unpark(pr2,xrel0,yrel0) STEP 81.0: base-right(pr2,x5,x6,y1) STEP 81.1: park(pr2) STEP 82: gripper-right(pr2,x6,y1,xrel0,xrel1,x6,x7,yrel0,y1) STEP 83: gripper-down(pr2,x6,y1,xrel1,x7,yrel0,yrel1,y1,y2) STEP 84.0: get-down(pr2,x6,y1,xrel1,x7,yrel1,y2,object3,y3) STEP 84.1: gripper-up(pr2,x6,y1,xrel1,x7,yrel1,yrel0,y2,y1) STEP 85: gripper-left(pr2,x6,y1,xrel1,xrel0,x7,x6,yrel0,y1) STEP 86: unpark(pr2,xrel0,yrel0) STEP 87: base-left(pr2,x6,x5,y1) STEP 88: base-left(pr2,x5,x4,y1) STEP 89: base-left(pr2,x4,x3,y1) STEP 90: base-down(pr2,x3,y1,y2) STEP 91.0: base-down(pr2,x3,y2,y3) STEP 91.1: park(pr2) STEP 92: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4) STEP 93: finish-object(object3,x3,y4) 112 actions in the plan. total time 91.08 preprocess 12.10 total size 5.774 GB max. learned clause length 147416 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 0 0 15 0 156 160 20 -1 2521 2749 25 -1 2340 2690 30 -1 2102 2579 35 -1 1920 2497 40 -1 1743 2258 45 -1 1561 2283 50 -1 1381 1963 55 -1 1260 1850 60 -1 1142 1774 65 -1 1022 1606 70 -1 960 1512 75 -1 840 1365 80 -1 780 1237 85 -1 723 1149 90 -1 660 1146 95 1 576 984