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-17.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 75679 ground actions and 1103 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 8.00 secs Goal: conjunctive Simplified: 35109 ground actions and 505 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 10.82 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 541 MB) Horizon 0: 505 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 178575 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 356645 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 534715 variables Allocated 32 MB (total 957 MB) Allocated 32 MB permanent (total 1107 MB) Horizon 20: 712785 variables Allocated 32 MB permanent (total 1268 MB) Horizon 25: 890855 variables Horizon 30: 1068925 variables Allocated 32 MB permanent (total 1590 MB) Horizon 35: 1246995 variables Allocated 32 MB permanent (total 1782 MB) Horizon 40: 1425065 variables Allocated 32 MB permanent (total 1986 MB) Allocated 32 MB permanent (total 2018 MB) Horizon 45: 1603135 variables Allocated 32 MB permanent (total 2231 MB) Horizon 50: 1781205 variables 15 UNSAT (471 decisions 433 conflicts) Allocated 32 MB permanent (total 2455 MB) Allocated 32 MB permanent (total 2487 MB) Horizon 55: 1959275 variables Allocated 32 MB permanent (total 2722 MB) Horizon 60: 2137345 variables Allocated 32 MB permanent (total 2967 MB) Allocated 32 MB permanent (total 2999 MB) Horizon 65: 2315415 variables Allocated 32 MB permanent (total 3255 MB) Allocated 32 MB permanent (total 3287 MB) Horizon 70: 2493485 variables Allocated 32 MB permanent (total 3553 MB) Allocated 32 MB permanent (total 3585 MB) Horizon 75: 2671555 variables Allocated 32 MB permanent (total 3862 MB) Allocated 32 MB permanent (total 3894 MB) Horizon 80: 2849625 variables Allocated 32 MB permanent (total 4182 MB) Allocated 32 MB permanent (total 4214 MB) Allocated 32 MB permanent (total 4246 MB) Horizon 85: 3027695 variables Allocated 32 MB permanent (total 4543 MB) Allocated 32 MB permanent (total 4575 MB) Horizon 90: 3205765 variables Allocated 32 MB permanent (total 4884 MB) Allocated 32 MB permanent (total 4916 MB) Allocated 32 MB permanent (total 4948 MB) Horizon 95: 3383835 variables Allocated 32 MB (total 4980 MB) Allocated 32 MB permanent (total 5299 MB) Allocated 32 MB permanent (total 5331 MB) Horizon 100: 3561905 variables Allocated 32 MB permanent (total 5660 MB) Allocated 32 MB permanent (total 5692 MB) Allocated 32 MB permanent (total 5724 MB) Horizon 105: 3739975 variables Allocated 32 MB permanent (total 6064 MB) Allocated 32 MB permanent (total 6096 MB) Allocated 32 MB permanent (total 6128 MB) Horizon 110: 3918045 variables Allocated 32 MB permanent (total 6479 MB) Allocated 32 MB permanent (total 6511 MB) Allocated 32 MB permanent (total 6543 MB) Allocated 32 MB permanent (total 6575 MB) Horizon 115: 4096115 variables SAT (334 decisions 161 conflicts) PLAN FOUND: 105 steps STEP 0: unpark(pr2,xrel0,yrel0) STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1) STEP 2: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1) STEP 3: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1) STEP 4.0: base-cart-left(pr2,cart,x2,x1,y0,x2,x1,y1) STEP 4.1: ungrasp-cart(pr2,cart) STEP 5: base-left(pr2,x1,x0,y0) STEP 6: base-down(pr2,x0,y0,y1) STEP 7: base-up(pr2,x0,y1,y0) STEP 8: base-down(pr2,x0,y0,y1) STEP 9: grasp-cart-right(pr2,cart,x0,y1,x1) STEP 10.0: base-cart-up(pr2,cart,x0,y1,y0,x1,y1,y0) STEP 10.1: ungrasp-cart(pr2,cart) STEP 11: base-down(pr2,x0,y0,y1) STEP 12: base-down(pr2,x0,y1,y2) STEP 13: base-down(pr2,x0,y2,y3) STEP 14: base-down(pr2,x0,y3,y4) STEP 15.0: base-down(pr2,x0,y4,y5) STEP 15.1: park(pr2) STEP 16: gripper-up(pr2,x0,y5,xrel0,x0,yrel0,yrel-1,y5,y4) STEP 17.0: get-right(pr2,x0,y5,xrel0,x0,yrel-1,y4,object2,x1) STEP 17.1: gripper-down(pr2,x0,y5,xrel0,x0,yrel-1,yrel0,y4,y5) STEP 18: gripper-down(pr2,x0,y5,xrel0,x0,yrel0,yrel1,y5,y6) STEP 19: gripper-up(pr2,x0,y5,xrel0,x0,yrel1,yrel0,y6,y5) STEP 20: unpark(pr2,xrel0,yrel0) STEP 21.0: base-right(pr2,x0,x1,y5) STEP 21.1: park(pr2) STEP 22.0: put-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4) STEP 22.1: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel0,y5) STEP 23.0: get-down(pr2,x1,y5,xrel1,x2,yrel0,y5,object3,y6) STEP 23.1: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5) STEP 24: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6) STEP 25: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6) STEP 26.0: put-right(pr2,x1,y5,xrel1,x2,yrel1,y6,object3,x3) STEP 26.1: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5) STEP 27: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5) STEP 28: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6) STEP 29: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6) STEP 30: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5) STEP 31: gripper-up(pr2,x1,y5,xrel1,x2,yrel0,yrel-1,y5,y4) STEP 32: gripper-down(pr2,x1,y5,xrel1,x2,yrel-1,yrel0,y4,y5) STEP 33: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5) STEP 34: unpark(pr2,xrel0,yrel0) STEP 35: base-down(pr2,x1,y5,y6) STEP 36.0: base-down(pr2,x1,y6,y7) STEP 36.1: park(pr2) STEP 37.0: get-down(pr2,x1,y7,xrel0,x1,yrel0,y7,object0,y8) STEP 37.1: gripper-right(pr2,x1,y7,xrel0,xrel1,x1,x2,yrel0,y7) STEP 38.0: put-up(pr2,x1,y7,xrel1,x2,yrel0,y7,object0,y6) STEP 38.1: gripper-left(pr2,x1,y7,xrel1,xrel0,x2,x1,yrel0,y7) STEP 39: finish-object(object0,x2,y6) unpark(pr2,xrel0,yrel0) STEP 40.0: base-up(pr2,x1,y7,y6) STEP 40.1: park(pr2) STEP 41: gripper-left(pr2,x1,y6,xrel0,xrel-1,x1,x0,yrel0,y6) STEP 42: gripper-right(pr2,x1,y6,xrel-1,xrel0,x0,x1,yrel0,y6) STEP 43: unpark(pr2,xrel0,yrel0) STEP 44.0: base-up(pr2,x1,y6,y5) STEP 44.1: park(pr2) STEP 45.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4) STEP 45.1: unpark(pr2,xrel0,yrel0) STEP 46: base-right(pr2,x1,x2,y5) STEP 47: base-right(pr2,x2,x3,y5) STEP 48: base-right(pr2,x3,x4,y5) STEP 49: base-right(pr2,x4,x5,y5) STEP 50.0: base-right(pr2,x5,x6,y5) STEP 50.1: park(pr2) STEP 51: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5) STEP 52: gripper-down(pr2,x6,y5,xrel-1,x5,yrel0,yrel1,y5,y6) STEP 53: gripper-up(pr2,x6,y5,xrel-1,x5,yrel1,yrel0,y6,y5) STEP 54: gripper-up(pr2,x6,y5,xrel-1,x5,yrel0,yrel-1,y5,y4) STEP 55.0: put-up(pr2,x6,y5,xrel-1,x5,yrel-1,y4,object2,y3) STEP 55.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4) STEP 56.0: get-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3) STEP 56.1: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel-1,y4) STEP 57: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4) STEP 58.0: put-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3) STEP 58.1: gripper-down(pr2,x6,y5,xrel0,x6,yrel-1,yrel0,y4,y5) STEP 59: unpark(pr2,xrel0,yrel0) STEP 60.0: base-up(pr2,x6,y5,y4) STEP 60.1: park(pr2) STEP 61: gripper-left(pr2,x6,y4,xrel0,xrel-1,x6,x5,yrel0,y4) STEP 62.0: get-up(pr2,x6,y4,xrel-1,x5,yrel0,y4,object2,y3) STEP 62.1: gripper-right(pr2,x6,y4,xrel-1,xrel0,x5,x6,yrel0,y4) STEP 63: unpark(pr2,xrel0,yrel0) STEP 64: base-up(pr2,x6,y4,y3) STEP 65: base-up(pr2,x6,y3,y2) STEP 66.0: base-left(pr2,x6,x5,y2) STEP 66.1: park(pr2) STEP 67: put-right(pr2,x5,y2,xrel0,x5,yrel0,y2,object2,x6) STEP 68: finish-object(object2,x6,y2) gripper-down(pr2,x5,y2,xrel0,x5,yrel0,yrel1,y2,y3) STEP 69.0: get-right(pr2,x5,y2,xrel0,x5,yrel1,y3,object1,x6) STEP 69.1: gripper-up(pr2,x5,y2,xrel0,x5,yrel1,yrel0,y3,y2) STEP 70.0: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object1,y3) STEP 70.1: unpark(pr2,xrel0,yrel0) STEP 71.0: base-right(pr2,x5,x6,y2) finish-object(object1,x5,y3) STEP 71.1: park(pr2) STEP 72: gripper-down(pr2,x6,y2,xrel0,x6,yrel0,yrel1,y2,y3) STEP 73: gripper-up(pr2,x6,y2,xrel0,x6,yrel1,yrel0,y3,y2) STEP 74: unpark(pr2,xrel0,yrel0) STEP 75: base-down(pr2,x6,y2,y3) STEP 76: base-down(pr2,x6,y3,y4) STEP 77: base-left(pr2,x6,x5,y4) STEP 78: base-down(pr2,x5,y4,y5) STEP 79.0: base-left(pr2,x5,x4,y5) STEP 79.1: park(pr2) STEP 80: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6) STEP 81.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3) STEP 81.1: gripper-right(pr2,x4,y5,xrel0,xrel1,x4,x5,yrel1,y6) STEP 82: gripper-up(pr2,x4,y5,xrel1,x5,yrel1,yrel0,y6,y5) STEP 83: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4) STEP 84: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5) STEP 85: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4) STEP 86: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5) STEP 87: gripper-left(pr2,x4,y5,xrel1,xrel0,x5,x4,yrel0,y5) STEP 88: unpark(pr2,xrel0,yrel0) STEP 89.0: base-right(pr2,x4,x5,y5) STEP 89.1: park(pr2) STEP 90: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4) STEP 91: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5) STEP 92: unpark(pr2,xrel0,yrel0) STEP 93: base-right(pr2,x5,x6,y5) STEP 94.0: base-up(pr2,x6,y5,y4) STEP 94.1: park(pr2) STEP 95: put-up(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,y3) STEP 96: finish-object(object3,x6,y3) 128 actions in the plan. total time 62.61 preprocess 20.14 total size 6.884 GB max. learned clause length 176324 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 0 0 15 0 433 471 20 -1 1200 1341 25 -1 1143 1426 30 -1 1020 1307 35 -1 960 1343 40 -1 840 1215 45 -1 781 1199 50 -1 720 1141 55 -1 660 1107 60 -1 601 1045 65 -1 541 891 70 -1 481 790 75 -1 420 740 80 -1 420 706 85 -1 362 639 90 -1 360 638 95 -1 301 484 100 -1 240 419 105 1 161 334