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-3.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 38082 ground actions and 760 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2.19 secs Goal: conjunctive Simplified: 15807 ground actions and 337 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.18 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 274 MB) Horizon 0: 337 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 81057 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 161777 variables Allocated 32 MB (total 556 MB) 10 UNSAT (30 decisions 29 conflicts) Horizon 15: 242497 variables Horizon 20: 323217 variables Horizon 25: 403937 variables Allocated 32 MB permanent (total 979 MB) Horizon 30: 484657 variables Horizon 35: 565377 variables Allocated 32 MB permanent (total 1236 MB) Horizon 40: 646097 variables SAT (148 decisions 83 conflicts) PLAN FOUND: 35 steps STEP 0: gripper-down(pr2,x0,y0,xrel0,x0,yrel0,yrel1,y0,y1) STEP 1: gripper-up(pr2,x0,y0,xrel0,x0,yrel1,yrel0,y1,y0) STEP 2: unpark(pr2,xrel0,yrel0) STEP 3: base-right(pr2,x0,x1,y0) STEP 4: base-right(pr2,x1,x2,y0) STEP 5: base-down(pr2,x2,y0,y1) STEP 6: base-down(pr2,x2,y1,y2) STEP 7.0: base-right(pr2,x2,x3,y2) STEP 7.1: park(pr2) STEP 8.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1) STEP 8.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3) STEP 9: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2) STEP 10.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1) STEP 10.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3) STEP 11: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4) STEP 12.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4) STEP 12.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2) STEP 13.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1) STEP 13.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2) STEP 14.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1) STEP 14.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3) STEP 15: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3) STEP 16.0: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4) STEP 16.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2) STEP 17: gripper-up(pr2,x3,y2,xrel0,x3,yrel0,yrel-1,y2,y1) STEP 18: gripper-down(pr2,x3,y2,xrel0,x3,yrel-1,yrel0,y1,y2) STEP 19.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1) STEP 19.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2) STEP 20.0: get-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1) STEP 20.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3) STEP 21: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3) STEP 22.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object0,y4) STEP 22.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2) STEP 23.0: finish-object(object0,x3,y4) get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1) STEP 23.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2) STEP 24.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object1,y1) STEP 24.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3) STEP 25.0: finish-object(object1,x4,y1) get-down(pr2,x3,y2,xrel1,x4,yrel1,y3,object3,y4) STEP 25.1: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3) STEP 26: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2) STEP 27.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object3,y1) STEP 27.1: unpark(pr2,xrel0,yrel0) STEP 28.0: base-down(pr2,x3,y2,y3) finish-object(object3,x3,y1) STEP 28.1: park(pr2) STEP 29: gripper-right(pr2,x3,y3,xrel0,xrel1,x3,x4,yrel0,y3) STEP 30: gripper-down(pr2,x3,y3,xrel1,x4,yrel0,yrel1,y3,y4) STEP 31.0: get-down(pr2,x3,y3,xrel1,x4,yrel1,y4,object2,y5) STEP 31.1: gripper-up(pr2,x3,y3,xrel1,x4,yrel1,yrel0,y4,y3) STEP 32: put-down(pr2,x3,y3,xrel1,x4,yrel0,y3,object2,y4) STEP 33: finish-object(object2,x4,y4) 53 actions in the plan. total time 6.56 preprocess 4.78 total size 1.427 GB max. learned clause length 25827 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 29 30 15 -1 361 419 20 -1 300 367 25 -1 243 381 30 -1 180 259 35 1 83 148