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-15.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 54482 ground actions and 923 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 5.56 secs Goal: conjunctive Simplified: 24195 ground actions and 416 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.21 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 380 MB) Horizon 0: 416 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 123471 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 246526 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 369581 variables 15 UNSAT (0 decisions 0 conflicts) Horizon 20: 492636 variables Allocated 32 MB (total 877 MB) Allocated 32 MB permanent (total 1022 MB) Horizon 25: 615691 variables Horizon 30: 738746 variables Allocated 32 MB permanent (total 1301 MB) Horizon 35: 861801 variables 20 UNSAT (228 decisions 211 conflicts) Allocated 32 MB permanent (total 1468 MB) Horizon 40: 984856 variables Allocated 32 MB permanent (total 1642 MB) Horizon 45: 1107911 variables Allocated 32 MB permanent (total 1823 MB) Horizon 50: 1230966 variables Allocated 32 MB permanent (total 2011 MB) Horizon 55: 1354021 variables Allocated 32 MB permanent (total 2207 MB) Horizon 60: 1477076 variables Allocated 32 MB permanent (total 2410 MB) Horizon 65: 1600131 variables SAT (143 decisions 84 conflicts) PLAN FOUND: 60 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-right(pr2,x4,x5,y0) STEP 6: base-right(pr2,x5,x6,y0) STEP 7: base-right(pr2,x6,x7,y0) STEP 8: base-left(pr2,x7,x6,y0) STEP 9: base-down(pr2,x6,y0,y1) STEP 10: base-left(pr2,x6,x5,y1) STEP 11: base-down(pr2,x5,y1,y2) STEP 12: base-up(pr2,x5,y2,y1) STEP 13: base-down(pr2,x5,y1,y2) STEP 14: base-down(pr2,x5,y2,y3) STEP 15: base-down(pr2,x5,y3,y4) STEP 16: base-down(pr2,x5,y4,y5) STEP 17.0: base-left(pr2,x5,x4,y5) STEP 17.1: park(pr2) STEP 18.0: get-down(pr2,x4,y5,xrel0,x4,yrel0,y5,object0,y6) STEP 18.1: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5) STEP 19: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4) STEP 20.0: put-up(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,y3) STEP 20.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel-1,yrel0,y4,y5) STEP 21: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5) STEP 22: unpark(pr2,xrel0,yrel0) STEP 23: base-left(pr2,x4,x3,y5) STEP 24: base-up(pr2,x3,y5,y4) STEP 25: base-up(pr2,x3,y4,y3) STEP 26.0: base-left(pr2,x3,x2,y3) STEP 26.1: park(pr2) STEP 27.0: get-up(pr2,x2,y3,xrel0,x2,yrel0,y3,object1,y2) STEP 27.1: unpark(pr2,xrel0,yrel0) STEP 28.0: base-right(pr2,x2,x3,y3) STEP 28.1: park(pr2) STEP 29: gripper-up(pr2,x3,y3,xrel0,x3,yrel0,yrel-1,y3,y2) STEP 30: put-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object1,y3) STEP 31: get-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,y3) STEP 32: put-left(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,x2) STEP 33: finish-object(object0,x2,y2) gripper-down(pr2,x3,y3,xrel0,x3,yrel-1,yrel0,y2,y3) STEP 34: get-left(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,x2) STEP 35.0: put-up(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,y2) STEP 35.1: gripper-down(pr2,x3,y3,xrel0,x3,yrel0,yrel1,y3,y4) STEP 36.0: finish-object(object2,x3,y2) get-up(pr2,x3,y3,xrel0,x3,yrel1,y4,object1,y3) STEP 36.1: gripper-left(pr2,x3,y3,xrel0,xrel-1,x3,x2,yrel1,y4) STEP 37.0: put-up(pr2,x3,y3,xrel-1,x2,yrel1,y4,object1,y3) STEP 37.1: gripper-right(pr2,x3,y3,xrel-1,xrel0,x2,x3,yrel1,y4) STEP 38: finish-object(object1,x2,y3) gripper-up(pr2,x3,y3,xrel0,x3,yrel1,yrel0,y4,y3) STEP 39: unpark(pr2,xrel0,yrel0) STEP 40: base-down(pr2,x3,y3,y4) STEP 41.0: base-down(pr2,x3,y4,y5) STEP 41.1: park(pr2) STEP 42: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5) STEP 43: gripper-down(pr2,x3,y5,xrel-1,x2,yrel0,yrel1,y5,y6) STEP 44.0: get-left(pr2,x3,y5,xrel-1,x2,yrel1,y6,object3,x1) STEP 44.1: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel1,y6) STEP 45: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel1,y6) STEP 46: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel1,y6) STEP 47: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5) STEP 48: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6) STEP 49: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5) STEP 50: unpark(pr2,xrel0,yrel0) STEP 51: base-down(pr2,x3,y5,y6) STEP 52.0: base-down(pr2,x3,y6,y7) STEP 52.1: park(pr2) STEP 53: gripper-right(pr2,x3,y7,xrel0,xrel1,x3,x4,yrel0,y7) STEP 54: put-right(pr2,x3,y7,xrel1,x4,yrel0,y7,object3,x5) STEP 55: finish-object(object3,x5,y7) 71 actions in the plan. total time 18.07 preprocess 11.56 total size 2.657 GB max. learned clause length 102412 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 0 0 15 0 0 0 20 0 211 228 25 -1 542 660 30 -1 480 593 35 -1 420 570 40 -1 360 491 45 -1 301 438 50 -1 240 343 55 -1 182 265 60 1 84 143