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-9.pddlignoring --stats ignoring --verbose -m 8192 Domain: tidybot Problem: test Parser: 54902 ground actions and 926 state variables Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 3.89 secs Goal: conjunctive Simplified: 21972 ground actions and 421 state variables Actions: STRIPS Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.38 secs (max SCC size 10) Plan type: E-step Allocated 32 MB permanent (total 352 MB) Horizon 0: 421 variables 0 UNSAT (0 decisions 0 conflicts) Horizon 5: 112386 variables 5 UNSAT (0 decisions 0 conflicts) Horizon 10: 224351 variables 10 UNSAT (0 decisions 0 conflicts) Horizon 15: 336316 variables Allocated 32 MB (total 739 MB) Horizon 20: 448281 variables Allocated 32 MB permanent (total 983 MB) Horizon 25: 560246 variables Horizon 30: 672211 variables Allocated 32 MB permanent (total 1254 MB) Horizon 35: 784176 variables Allocated 32 MB permanent (total 1415 MB) Horizon 40: 896141 variables Horizon 45: 1008106 variables Allocated 32 MB permanent (total 1726 MB) Horizon 50: 1120071 variables Allocated 32 MB permanent (total 1907 MB) Horizon 55: 1232036 variables Allocated 32 MB permanent (total 2095 MB) Horizon 60: 1344001 variables Allocated 32 MB permanent (total 2289 MB) Horizon 65: 1455966 variables Allocated 32 MB permanent (total 2490 MB) Horizon 70: 1567931 variables SAT (318 decisions 168 conflicts) PLAN FOUND: 60 steps STEP 0: finish-object(object3,x5,y3) unpark(pr2,xrel0,yrel0) STEP 1: base-right(pr2,x0,x1,y0) STEP 2: base-right(pr2,x1,x2,y0) STEP 3.0: base-right(pr2,x2,x3,y0) STEP 3.1: park(pr2) STEP 4: gripper-left(pr2,x3,y0,xrel0,xrel-1,x3,x2,yrel0,y0) STEP 5: gripper-right(pr2,x3,y0,xrel-1,xrel0,x2,x3,yrel0,y0) STEP 6: gripper-right(pr2,x3,y0,xrel0,xrel1,x3,x4,yrel0,y0) STEP 7: gripper-down(pr2,x3,y0,xrel1,x4,yrel0,yrel1,y0,y1) STEP 8: gripper-up(pr2,x3,y0,xrel1,x4,yrel1,yrel0,y1,y0) STEP 9: gripper-left(pr2,x3,y0,xrel1,xrel0,x4,x3,yrel0,y0) STEP 10: unpark(pr2,xrel0,yrel0) STEP 11: base-right(pr2,x3,x4,y0) STEP 12: base-right(pr2,x4,x5,y0) STEP 13.0: base-down(pr2,x5,y0,y1) STEP 13.1: park(pr2) STEP 14.0: get-down(pr2,x5,y1,xrel0,x5,yrel0,y1,object0,y2) STEP 14.1: gripper-left(pr2,x5,y1,xrel0,xrel-1,x5,x4,yrel0,y1) STEP 15.0: put-down(pr2,x5,y1,xrel-1,x4,yrel0,y1,object0,y2) STEP 15.1: gripper-right(pr2,x5,y1,xrel-1,xrel0,x4,x5,yrel0,y1) STEP 16: finish-object(object0,x4,y2) unpark(pr2,xrel0,yrel0) STEP 17: base-up(pr2,x5,y1,y0) STEP 18: base-right(pr2,x5,x6,y0) STEP 19: base-right(pr2,x6,x7,y0) STEP 20: base-down(pr2,x7,y0,y1) STEP 21: base-down(pr2,x7,y1,y2) STEP 22: base-down(pr2,x7,y2,y3) STEP 23: base-down(pr2,x7,y3,y4) STEP 24: base-down(pr2,x7,y4,y5) STEP 25: base-left(pr2,x7,x6,y5) STEP 26.0: base-left(pr2,x6,x5,y5) STEP 26.1: park(pr2) STEP 27: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6) STEP 28.0: get-down(pr2,x5,y5,xrel0,x5,yrel1,y6,object1,y7) STEP 28.1: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel1,y6) STEP 29: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel1,y6) STEP 30: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5) STEP 31: unpark(pr2,xrel0,yrel0) STEP 32: park(pr2) STEP 33: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5) STEP 34: gripper-down(pr2,x5,y5,xrel1,x6,yrel0,yrel1,y5,y6) STEP 35: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel1,y6) STEP 36: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5) STEP 37: unpark(pr2,xrel0,yrel0) STEP 38: base-right(pr2,x5,x6,y5) STEP 39.0: base-down(pr2,x6,y5,y6) STEP 39.1: park(pr2) STEP 40: gripper-right(pr2,x6,y6,xrel0,xrel1,x6,x7,yrel0,y6) STEP 41.0: put-down(pr2,x6,y6,xrel1,x7,yrel0,y6,object1,y7) STEP 41.1: gripper-left(pr2,x6,y6,xrel1,xrel0,x7,x6,yrel0,y6) STEP 42: finish-object(object1,x7,y7) unpark(pr2,xrel0,yrel0) STEP 43: base-up(pr2,x6,y6,y5) STEP 44: base-right(pr2,x6,x7,y5) STEP 45: base-up(pr2,x7,y5,y4) STEP 46: base-up(pr2,x7,y4,y3) STEP 47: base-up(pr2,x7,y3,y2) STEP 48: base-up(pr2,x7,y2,y1) STEP 49: base-up(pr2,x7,y1,y0) STEP 50: base-left(pr2,x7,x6,y0) STEP 51: base-left(pr2,x6,x5,y0) STEP 52: base-down(pr2,x5,y0,y1) STEP 53: base-down(pr2,x5,y1,y2) STEP 54: base-up(pr2,x5,y2,y1) STEP 55: base-down(pr2,x5,y1,y2) STEP 56.0: base-down(pr2,x5,y2,y3) STEP 56.1: park(pr2) STEP 57: get-left(pr2,x5,y3,xrel0,x5,yrel0,y3,object2,x4) STEP 58: put-up(pr2,x5,y3,xrel0,x5,yrel0,y3,object2,y2) STEP 59: finish-object(object2,x5,y2) 72 actions in the plan. total time 18.48 preprocess 9.00 total size 2.729 GB max. learned clause length 97451 t val conflicts decisions 0 0 0 0 5 0 0 0 10 0 0 0 15 -1 721 796 20 -1 660 820 25 -1 600 999 30 -1 540 759 35 -1 480 774 40 -1 420 644 45 -1 360 566 50 -1 301 529 55 -1 240 457 60 1 168 318