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-1.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 38357 ground actions and 761 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16  1.85 secs
Goal: conjunctive
Simplified: 14685 ground actions and 341 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.94 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 261 MB)
Horizon 0: 341 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 75471 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 150601 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 225731 variables
15 UNSAT (0 decisions 0 conflicts)
Horizon 20: 300861 variables
				Allocated 32 MB (total 726 MB)
Horizon 25: 375991 variables
				Allocated 32 MB permanent (total 959 MB)
Horizon 30: 451121 variables
Horizon 35: 526251 variables
Horizon 40: 601381 variables
				Allocated 32 MB permanent (total 1327 MB)
Horizon 45: 676511 variables
				Allocated 32 MB permanent (total 1480 MB)
Horizon 50: 751641 variables
Horizon 55: 826771 variables
				Allocated 32 MB permanent (total 1766 MB)
Horizon 60: 901901 variables
Horizon 65: 977031 variables
				Allocated 32 MB permanent (total 2071 MB)
Horizon 70: 1052161 variables
				Allocated 32 MB permanent (total 2246 MB)
Horizon 75: 1127291 variables
				Allocated 32 MB permanent (total 2426 MB)
Horizon 80: 1202421 variables
				Allocated 32 MB permanent (total 2609 MB)
Horizon 85: 1277551 variables
				Allocated 32 MB permanent (total 2798 MB)
Horizon 90: 1352681 variables
SAT (16 ID 240 decisions 159 conflicts 1202421 variables)
PLAN FOUND: 80 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 3.0: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
STEP 3.1: ungrasp-cart(pr2,cart)
STEP 4.0: base-left(pr2,x2,x1,y0)
STEP 4.1: park(pr2)
STEP 5: unpark(pr2,xrel0,yrel0)
STEP 6: base-down(pr2,x1,y0,y1)
STEP 7.0: base-down(pr2,x1,y1,y2)
STEP 7.1: park(pr2)
STEP 8.0: get-down(pr2,x1,y2,xrel0,x1,yrel0,y2,object3,y3)
STEP 8.1: unpark(pr2,xrel0,yrel0)
STEP 9: base-right(pr2,x1,x2,y2)
STEP 10: base-down(pr2,x2,y2,y3)
STEP 11: base-down(pr2,x2,y3,y4)
STEP 12: base-down(pr2,x2,y4,y5)
STEP 13: base-up(pr2,x2,y5,y4)
STEP 14: base-up(pr2,x2,y4,y3)
STEP 15: base-down(pr2,x2,y3,y4)
STEP 16: base-down(pr2,x2,y4,y5)
STEP 17: base-down(pr2,x2,y5,y6)
STEP 18: base-down(pr2,x2,y6,y7)
STEP 19: base-right(pr2,x2,x3,y7)
STEP 20: base-right(pr2,x3,x4,y7)
STEP 21: base-up(pr2,x4,y7,y6)
STEP 22.0: base-right(pr2,x4,x5,y6)
STEP 22.1: park(pr2)
STEP 23: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
STEP 24: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
STEP 25: unpark(pr2,xrel0,yrel0)
STEP 26.0: base-up(pr2,x5,y6,y5)
STEP 26.1: park(pr2)
STEP 27: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
STEP 28: put-down(pr2,x5,y5,xrel0,x5,yrel-1,y4,object3,y5)
STEP 29: finish-object(object3,x5,y5) get-down(pr2,x5,y5,xrel0,x5,yrel-1,y4,object0,y5)
STEP 30: put-left(pr2,x5,y5,xrel0,x5,yrel-1,y4,object0,x4)
STEP 31: finish-object(object0,x4,y4) gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
STEP 32: unpark(pr2,xrel0,yrel0)
STEP 33: base-down(pr2,x5,y5,y6)
STEP 34: base-down(pr2,x5,y6,y7)
STEP 35: base-left(pr2,x5,x4,y7)
STEP 36: base-left(pr2,x4,x3,y7)
STEP 37: base-left(pr2,x3,x2,y7)
STEP 38: base-up(pr2,x2,y7,y6)
STEP 39: base-up(pr2,x2,y6,y5)
STEP 40: base-up(pr2,x2,y5,y4)
STEP 41.0: base-left(pr2,x2,x1,y4)
STEP 41.1: park(pr2)
STEP 42: gripper-up(pr2,x1,y4,xrel0,x1,yrel0,yrel-1,y4,y3)
STEP 43: gripper-down(pr2,x1,y4,xrel0,x1,yrel-1,yrel0,y3,y4)
STEP 44: gripper-right(pr2,x1,y4,xrel0,xrel1,x1,x2,yrel0,y4)
STEP 45: gripper-left(pr2,x1,y4,xrel1,xrel0,x2,x1,yrel0,y4)
STEP 46: unpark(pr2,xrel0,yrel0)
STEP 47.0: base-left(pr2,x1,x0,y4)
STEP 47.1: park(pr2)
STEP 48: gripper-up(pr2,x0,y4,xrel0,x0,yrel0,yrel-1,y4,y3)
STEP 49: gripper-right(pr2,x0,y4,xrel0,xrel1,x0,x1,yrel-1,y3)
STEP 50: gripper-left(pr2,x0,y4,xrel1,xrel0,x1,x0,yrel-1,y3)
STEP 51: gripper-down(pr2,x0,y4,xrel0,x0,yrel-1,yrel0,y3,y4)
STEP 52: unpark(pr2,xrel0,yrel0)
STEP 53: base-up(pr2,x0,y4,y3)
STEP 54: base-up(pr2,x0,y3,y2)
STEP 55: base-right(pr2,x0,x1,y2)
STEP 56: base-right(pr2,x1,x2,y2)
STEP 57.0: base-right(pr2,x2,x3,y2)
STEP 57.1: park(pr2)
STEP 58.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object2,y1)
STEP 58.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
STEP 59: gripper-up(pr2,x3,y2,xrel1,x4,yrel0,yrel-1,y2,y1)
STEP 60.0: put-left(pr2,x3,y2,xrel1,x4,yrel-1,y1,object2,x3)
STEP 60.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel-1,yrel0,y1,y2)
STEP 61: gripper-up(pr2,x3,y2,xrel1,x4,yrel0,yrel-1,y2,y1)
STEP 62.0: get-right(pr2,x3,y2,xrel1,x4,yrel-1,y1,object1,x5)
STEP 62.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel-1,yrel0,y1,y2)
STEP 63: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel0,y2)
STEP 64: unpark(pr2,xrel0,yrel0)
STEP 65: park(pr2)
STEP 66: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
STEP 67: gripper-down(pr2,x3,y2,xrel-1,x2,yrel0,yrel1,y2,y3)
STEP 68.0: put-left(pr2,x3,y2,xrel-1,x2,yrel1,y3,object1,x1)
STEP 68.1: gripper-up(pr2,x3,y2,xrel-1,x2,yrel1,yrel0,y3,y2)
STEP 69: finish-object(object1,x1,y3) gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
STEP 70.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object2,y1)
STEP 70.1: unpark(pr2,xrel0,yrel0)
STEP 71: base-left(pr2,x3,x2,y2)
STEP 72.0: base-down(pr2,x2,y2,y3)
STEP 72.1: park(pr2)
STEP 73: unpark(pr2,xrel0,yrel0)
STEP 74.0: base-down(pr2,x2,y3,y4)
STEP 74.1: park(pr2)
STEP 75: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
STEP 76: put-left(pr2,x2,y4,xrel0,x2,yrel1,y5,object2,x1)
STEP 77: finish-object(object2,x1,y5)
97 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 17.58 # [s]
  preprocessing: 4.24 # [s]
maxLearnedClauseLength: 44806
groundActions:
  afterParsing: 38357
  afterPreprocessing: 14685
stateVariables:
  afterParsing: 761
  afterPreprocessing: 341
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 80
  actions: 97
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 341
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 75471
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 150601
  - horizon: 15
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 225731
  - horizon: 20
    result: unknown
    conflicts: 900
    decisions: 1003
    variables: 300861
  - horizon: 25
    result: unknown
    conflicts: 841
    decisions: 944
    variables: 375991
  - horizon: 30
    result: unknown
    conflicts: 780
    decisions: 922
    variables: 451121
  - horizon: 35
    result: unknown
    conflicts: 721
    decisions: 935
    variables: 526251
  - horizon: 40
    result: unknown
    conflicts: 660
    decisions: 915
    variables: 601381
  - horizon: 45
    result: unknown
    conflicts: 600
    decisions: 800
    variables: 676511
  - horizon: 50
    result: unknown
    conflicts: 540
    decisions: 730
    variables: 751641
  - horizon: 55
    result: unknown
    conflicts: 480
    decisions: 679
    variables: 826771
  - horizon: 60
    result: unknown
    conflicts: 420
    decisions: 576
    variables: 901901
  - horizon: 65
    result: unknown
    conflicts: 361
    decisions: 534
    variables: 977031
  - horizon: 70
    result: unknown
    conflicts: 300
    decisions: 438
    variables: 1052161
  - horizon: 75
    result: unknown
    conflicts: 240
    decisions: 337
    variables: 1127291
  - horizon: 80
    result: satisfiable
    conflicts: 159
    decisions: 240
    variables: 1202421
  - horizon: 85
    result: unknown
    conflicts: 60
    decisions: 66
    variables: 1277551
  - horizon: 90
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 1352681
...

