Madagascar 0.99999 31/01/2018 20:14:07 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-18.pddlignoring --stats ignoring --stats-iter ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 75377 ground actions and 1099 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 10.74 secs Goal: conjunctive Simplified: 36707 ground actions and 503 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 11.82 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 565 MB) Horizon 0: 503 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 186553 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 372603 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 558653 variables Allocated 32 MB (total 984 MB) Allocated 32 MB permanent (total 1137 MB) Horizon 20: 744703 variables Allocated 32 MB permanent (total 1300 MB) Horizon 25: 930753 variables Allocated 32 MB permanent (total 1475 MB) Horizon 30: 1116803 variables Allocated 32 MB permanent (total 1660 MB) Horizon 35: 1302853 variables Allocated 32 MB permanent (total 1856 MB) Horizon 40: 1488903 variables Allocated 32 MB permanent (total 2064 MB) Horizon 45: 1674953 variables Allocated 32 MB permanent (total 2282 MB) Horizon 50: 1861003 variables Allocated 32 MB permanent (total 2511 MB) Allocated 32 MB permanent (total 2543 MB) Horizon 55: 2047053 variables Allocated 32 MB permanent (total 2784 MB) Allocated 32 MB permanent (total 2816 MB) Horizon 60: 2233103 variables Allocated 32 MB permanent (total 3067 MB) Allocated 32 MB permanent (total 3099 MB) Horizon 65: 2419153 variables Allocated 32 MB permanent (total 3362 MB) Allocated 32 MB permanent (total 3394 MB) Horizon 70: 2605203 variables Allocated 32 MB permanent (total 3667 MB) Allocated 32 MB permanent (total 3699 MB) Horizon 75: 2791253 variables Allocated 32 MB permanent (total 3983 MB) Allocated 32 MB permanent (total 4015 MB) Horizon 80: 2977303 variables Allocated 32 MB (total 4047 MB) Allocated 32 MB permanent (total 4343 MB) Allocated 32 MB permanent (total 4375 MB) Allocated 32 MB permanent (total 4407 MB) Horizon 85: 3163353 variables Allocated 32 MB permanent (total 4713 MB) Allocated 32 MB permanent (total 4745 MB) Horizon 90: 3349403 variables Allocated 32 MB permanent (total 5062 MB) Allocated 32 MB permanent (total 5094 MB) Allocated 32 MB permanent (total 5126 MB) Horizon 95: 3535453 variables Allocated 32 MB permanent (total 5455 MB) Allocated 32 MB permanent (total 5487 MB) Allocated 32 MB permanent (total 5519 MB) Horizon 100: 3721503 variables Allocated 32 MB (total 5551 MB) Allocated 32 MB permanent (total 5890 MB) Allocated 32 MB permanent (total 5922 MB) Allocated 32 MB permanent (total 5954 MB) Horizon 105: 3907553 variables Allocated 32 MB permanent (total 6305 MB) Allocated 32 MB permanent (total 6337 MB) Allocated 32 MB permanent (total 6369 MB) Horizon 110: 4093603 variables 15 UNSAT (1862 decisions 1374 conflicts) Allocated 32 MB permanent (total 6730 MB) Allocated 32 MB permanent (total 6762 MB) Allocated 32 MB permanent (total 6794 MB) Allocated 32 MB permanent (total 6826 MB) Horizon 115: 4279653 variables Allocated 32 MB (total 6858 MB) Allocated 32 MB (total 6890 MB) Allocated 32 MB (total 6922 MB) GC: 146.37 MB Allocated 32 MB (total 6954 MB) Allocated 32 MB (total 6986 MB) Allocated 32 MB (total 7018 MB) Allocated 32 MB (total 7050 MB) SAT (18 ID 1846 decisions 1001 conflicts 3349403 variables) PLAN FOUND: 90 steps STEP 0: finish-object(object0,x1,y2) 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-down(pr2,x3,y0,y1) STEP 5: base-down(pr2,x3,y1,y2) STEP 6: base-down(pr2,x3,y2,y3) STEP 7: base-down(pr2,x3,y3,y4) STEP 8.0: base-down(pr2,x3,y4,y5) STEP 8.1: park(pr2) STEP 9.0: get-down(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y6) STEP 9.1: unpark(pr2,xrel0,yrel0) STEP 10: base-up(pr2,x3,y5,y4) STEP 11: base-up(pr2,x3,y4,y3) STEP 12: base-up(pr2,x3,y3,y2) STEP 13: base-right(pr2,x3,x4,y2) STEP 14: base-right(pr2,x4,x5,y2) STEP 15: base-right(pr2,x5,x6,y2) STEP 16: base-down(pr2,x6,y2,y3) STEP 17.0: base-down(pr2,x6,y3,y4) STEP 17.1: park(pr2) STEP 18.0: put-down(pr2,x6,y4,xrel0,x6,yrel0,y4,object1,y5) STEP 18.1: unpark(pr2,xrel0,yrel0) STEP 19.0: base-right(pr2,x6,x7,y4) finish-object(object1,x6,y5) STEP 19.1: park(pr2) STEP 20: unpark(pr2,xrel0,yrel0) STEP 21: base-down(pr2,x7,y4,y5) STEP 22: base-up(pr2,x7,y5,y4) STEP 23: base-up(pr2,x7,y4,y3) STEP 24: base-left(pr2,x7,x6,y3) STEP 25: base-up(pr2,x6,y3,y2) STEP 26: base-left(pr2,x6,x5,y2) STEP 27.0: base-left(pr2,x5,x4,y2) STEP 27.1: park(pr2) STEP 28: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2) STEP 29.0: get-left(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,x2) STEP 29.1: gripper-right(pr2,x4,y2,xrel-1,xrel0,x3,x4,yrel0,y2) STEP 30: unpark(pr2,xrel0,yrel0) STEP 31: base-left(pr2,x4,x3,y2) STEP 32.0: base-right(pr2,x3,x4,y2) STEP 32.1: park(pr2) STEP 33: gripper-right(pr2,x4,y2,xrel0,xrel1,x4,x5,yrel0,y2) STEP 34: gripper-left(pr2,x4,y2,xrel1,xrel0,x5,x4,yrel0,y2) STEP 35: unpark(pr2,xrel0,yrel0) STEP 36.0: base-right(pr2,x4,x5,y2) STEP 36.1: park(pr2) STEP 37: unpark(pr2,xrel0,yrel0) STEP 38.0: base-right(pr2,x5,x6,y2) STEP 38.1: park(pr2) STEP 39: gripper-right(pr2,x6,y2,xrel0,xrel1,x6,x7,yrel0,y2) STEP 40: gripper-down(pr2,x6,y2,xrel1,x7,yrel0,yrel1,y2,y3) STEP 41.0: put-down(pr2,x6,y2,xrel1,x7,yrel1,y3,object2,y4) STEP 41.1: gripper-up(pr2,x6,y2,xrel1,x7,yrel1,yrel0,y3,y2) STEP 42: finish-object(object2,x7,y4) gripper-left(pr2,x6,y2,xrel1,xrel0,x7,x6,yrel0,y2) STEP 43: unpark(pr2,xrel0,yrel0) STEP 44: base-down(pr2,x6,y2,y3) STEP 45: base-down(pr2,x6,y3,y4) STEP 46: base-up(pr2,x6,y4,y3) STEP 47: base-up(pr2,x6,y3,y2) STEP 48: base-left(pr2,x6,x5,y2) STEP 49: base-left(pr2,x5,x4,y2) STEP 50: base-down(pr2,x4,y2,y3) STEP 51: base-up(pr2,x4,y3,y2) STEP 52: base-right(pr2,x4,x5,y2) STEP 53: base-right(pr2,x5,x6,y2) STEP 54: base-right(pr2,x6,x7,y2) STEP 55: base-down(pr2,x7,y2,y3) STEP 56: base-down(pr2,x7,y3,y4) STEP 57: base-up(pr2,x7,y4,y3) STEP 58: base-left(pr2,x7,x6,y3) STEP 59: base-up(pr2,x6,y3,y2) STEP 60: base-left(pr2,x6,x5,y2) STEP 61: base-left(pr2,x5,x4,y2) STEP 62: base-down(pr2,x4,y2,y3) STEP 63: base-down(pr2,x4,y3,y4) STEP 64.0: base-down(pr2,x4,y4,y5) STEP 64.1: park(pr2) STEP 65: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6) STEP 66: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel1,y6) STEP 67.0: get-left(pr2,x4,y5,xrel-1,x3,yrel1,y6,object3,x2) STEP 67.1: gripper-up(pr2,x4,y5,xrel-1,x3,yrel1,yrel0,y6,y5) STEP 68: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5) STEP 69: unpark(pr2,xrel0,yrel0) STEP 70: base-up(pr2,x4,y5,y4) STEP 71: base-up(pr2,x4,y4,y3) STEP 72: base-up(pr2,x4,y3,y2) STEP 73: base-right(pr2,x4,x5,y2) STEP 74: base-right(pr2,x5,x6,y2) STEP 75.0: base-down(pr2,x6,y2,y3) STEP 75.1: park(pr2) STEP 76: gripper-right(pr2,x6,y3,xrel0,xrel1,x6,x7,yrel0,y3) STEP 77: gripper-left(pr2,x6,y3,xrel1,xrel0,x7,x6,yrel0,y3) STEP 78: unpark(pr2,xrel0,yrel0) STEP 79: base-down(pr2,x6,y3,y4) STEP 80.0: base-right(pr2,x6,x7,y4) STEP 80.1: park(pr2) STEP 81: put-down(pr2,x7,y4,xrel0,x7,yrel0,y4,object3,y5) STEP 82: finish-object(object3,x7,y5) 101 actions in the plan. # statistics in YAML format --- runtime: total: 175.29 # [s] preprocessing: 23.96 # [s] maxLearnedClauseLength: 244189 groundActions: afterParsing: 75377 afterPreprocessing: 36707 stateVariables: afterParsing: 1099 afterPreprocessing: 503 stronglyConnectedComponents: maxSize: 10 plan: found: true length: 90 actions: 101 iterations: - horizon: 0 result: unsatisfiable conflicts: 0 decisions: 0 variables: 503 - horizon: 5 result: unsatisfiable conflicts: 0 decisions: 0 variables: 186553 - horizon: 10 result: unsatisfiable conflicts: 0 decisions: 0 variables: 372603 - horizon: 15 result: unsatisfiable conflicts: 1374 decisions: 1862 variables: 558653 - horizon: 20 result: unknown conflicts: 4085 decisions: 4940 variables: 744703 - horizon: 25 result: unknown conflicts: 3720 decisions: 4618 variables: 930753 - horizon: 30 result: unknown conflicts: 3360 decisions: 4550 variables: 1116803 - horizon: 35 result: unknown conflicts: 3065 decisions: 4446 variables: 1302853 - horizon: 40 result: unknown conflicts: 2761 decisions: 4134 variables: 1488903 - horizon: 45 result: unknown conflicts: 2465 decisions: 3826 variables: 1674953 - horizon: 50 result: unknown conflicts: 2221 decisions: 3575 variables: 1861003 - horizon: 55 result: unknown conflicts: 2043 decisions: 3342 variables: 2047053 - horizon: 60 result: unknown conflicts: 1803 decisions: 3119 variables: 2233103 - horizon: 65 result: unknown conflicts: 1622 decisions: 2772 variables: 2419153 - horizon: 70 result: unknown conflicts: 1502 decisions: 2773 variables: 2605203 - horizon: 75 result: unknown conflicts: 1320 decisions: 2327 variables: 2791253 - horizon: 80 result: unknown conflicts: 1200 decisions: 2237 variables: 2977303 - horizon: 85 result: unknown conflicts: 1081 decisions: 1849 variables: 3163353 - horizon: 90 result: satisfiable conflicts: 1001 decisions: 1846 variables: 3349403 - horizon: 95 result: unknown conflicts: 901 decisions: 1696 variables: 3535453 - horizon: 100 result: unknown conflicts: 780 decisions: 1542 variables: 3721503 - horizon: 105 result: unknown conflicts: 721 decisions: 1303 variables: 3907553 - horizon: 110 result: unknown conflicts: 661 decisions: 1375 variables: 4093603 - horizon: 115 result: unknown conflicts: 600 decisions: 1102 variables: 4279653 ...