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-5.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 38092 ground actions and 758 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14  2.00 secs
Goal: conjunctive
Simplified: 16230 ground actions and 339 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.29 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 278 MB)
Horizon 0: 339 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 83184 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 166029 variables
				Allocated 32 MB (total 561 MB)
10 UNSAT (57 decisions 57 conflicts)
Horizon 15: 248874 variables
Horizon 20: 331719 variables
Horizon 25: 414564 variables
				Allocated 32 MB permanent (total 987 MB)
Horizon 30: 497409 variables
Horizon 35: 580254 variables
				Allocated 32 MB permanent (total 1245 MB)
Horizon 40: 663099 variables
Horizon 45: 745944 variables
				Allocated 32 MB permanent (total 1523 MB)
Horizon 50: 828789 variables
				Allocated 32 MB permanent (total 1685 MB)
Horizon 55: 911634 variables
Horizon 60: 994479 variables
				Allocated 32 MB permanent (total 1992 MB)
Horizon 65: 1077324 variables
				Allocated 32 MB permanent (total 2169 MB)
Horizon 70: 1160169 variables
				Allocated 32 MB permanent (total 2351 MB)
Horizon 75: 1243014 variables
				Allocated 32 MB permanent (total 2537 MB)
Horizon 80: 1325859 variables
				Allocated 32 MB permanent (total 2729 MB)
Horizon 85: 1408704 variables
				Allocated 32 MB (total 2761 MB)
SAT (16 ID 230 decisions 104 conflicts 1325859 variables)
PLAN FOUND: 80 steps
STEP 0: finish-object(object3,x4,y5) 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: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
STEP 4: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
STEP 5: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
STEP 6: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
STEP 7: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
STEP 8: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
STEP 9.0: base-cart-left(pr2,cart,x1,x0,y0,x1,x0,y1)
STEP 9.1: ungrasp-cart(pr2,cart)
STEP 10: base-right(pr2,x0,x1,y0)
STEP 11: base-down(pr2,x1,y0,y1)
STEP 12: base-down(pr2,x1,y1,y2)
STEP 13: base-up(pr2,x1,y2,y1)
STEP 14: base-down(pr2,x1,y1,y2)
STEP 15: base-down(pr2,x1,y2,y3)
STEP 16: base-down(pr2,x1,y3,y4)
STEP 17: base-right(pr2,x1,x2,y4)
STEP 18: base-left(pr2,x2,x1,y4)
STEP 19: base-up(pr2,x1,y4,y3)
STEP 20: base-up(pr2,x1,y3,y2)
STEP 21: base-right(pr2,x1,x2,y2)
STEP 22: base-right(pr2,x2,x3,y2)
STEP 23: base-right(pr2,x3,x4,y2)
STEP 24.0: base-right(pr2,x4,x5,y2)
STEP 24.1: park(pr2)
STEP 25: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
STEP 26.0: get-up(pr2,x5,y2,xrel1,x6,yrel0,y2,object0,y1)
STEP 26.1: gripper-down(pr2,x5,y2,xrel1,x6,yrel0,yrel1,y2,y3)
STEP 27: gripper-up(pr2,x5,y2,xrel1,x6,yrel1,yrel0,y3,y2)
STEP 28: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
STEP 29: unpark(pr2,xrel0,yrel0)
STEP 30: base-left(pr2,x5,x4,y2)
STEP 31: base-left(pr2,x4,x3,y2)
STEP 32: base-left(pr2,x3,x2,y2)
STEP 33: base-left(pr2,x2,x1,y2)
STEP 34: base-down(pr2,x1,y2,y3)
STEP 35: base-down(pr2,x1,y3,y4)
STEP 36.0: base-right(pr2,x1,x2,y4)
STEP 36.1: park(pr2)
STEP 37.0: put-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object0,x3)
STEP 37.1: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
STEP 38.0: finish-object(object0,x3,y4) get-right(pr2,x2,y4,xrel0,x2,yrel1,y5,object2,x3)
STEP 38.1: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
STEP 39: unpark(pr2,xrel0,yrel0)
STEP 40.0: base-down(pr2,x2,y4,y5)
STEP 40.1: park(pr2)
STEP 41: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
STEP 42: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
STEP 43: unpark(pr2,xrel0,yrel0)
STEP 44: base-up(pr2,x2,y5,y4)
STEP 45.0: base-down(pr2,x2,y4,y5)
STEP 45.1: park(pr2)
STEP 46: gripper-right(pr2,x2,y5,xrel0,xrel1,x2,x3,yrel0,y5)
STEP 47: gripper-left(pr2,x2,y5,xrel1,xrel0,x3,x2,yrel0,y5)
STEP 48: unpark(pr2,xrel0,yrel0)
STEP 49: base-up(pr2,x2,y5,y4)
STEP 50.0: base-right(pr2,x2,x3,y4)
STEP 50.1: park(pr2)
STEP 51.0: put-right(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x4)
STEP 51.1: unpark(pr2,xrel0,yrel0)
STEP 52: base-down(pr2,x3,y4,y5) finish-object(object2,x4,y4)
STEP 53: base-left(pr2,x3,x2,y5)
STEP 54: base-up(pr2,x2,y5,y4)
STEP 55: base-down(pr2,x2,y4,y5)
STEP 56: base-up(pr2,x2,y5,y4)
STEP 57: base-left(pr2,x2,x1,y4)
STEP 58.0: base-up(pr2,x1,y4,y3)
STEP 58.1: park(pr2)
STEP 59: gripper-up(pr2,x1,y3,xrel0,x1,yrel0,yrel-1,y3,y2)
STEP 60: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel-1,y2)
STEP 61.0: get-up(pr2,x1,y3,xrel1,x2,yrel-1,y2,object1,y1)
STEP 61.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel-1,y2)
STEP 62: gripper-down(pr2,x1,y3,xrel0,x1,yrel-1,yrel0,y2,y3)
STEP 63: unpark(pr2,xrel0,yrel0)
STEP 64: base-down(pr2,x1,y3,y4)
STEP 65.0: base-right(pr2,x1,x2,y4)
STEP 65.1: park(pr2)
STEP 66: unpark(pr2,xrel0,yrel0)
STEP 67.0: base-right(pr2,x2,x3,y4)
STEP 67.1: park(pr2)
STEP 68: put-down(pr2,x3,y4,xrel0,x3,yrel0,y4,object1,y5)
STEP 69: finish-object(object1,x3,y5)
87 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 16.03 # [s]
  preprocessing: 4.78 # [s]
maxLearnedClauseLength: 65058
groundActions:
  afterParsing: 38092
  afterPreprocessing: 16230
stateVariables:
  afterParsing: 758
  afterPreprocessing: 339
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 80
  actions: 87
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 339
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 83184
  - horizon: 10
    result: unsatisfiable
    conflicts: 57
    decisions: 57
    variables: 166029
  - horizon: 15
    result: unknown
    conflicts: 901
    decisions: 1005
    variables: 248874
  - horizon: 20
    result: unknown
    conflicts: 840
    decisions: 975
    variables: 331719
  - horizon: 25
    result: unknown
    conflicts: 780
    decisions: 973
    variables: 414564
  - horizon: 30
    result: unknown
    conflicts: 720
    decisions: 928
    variables: 497409
  - horizon: 35
    result: unknown
    conflicts: 661
    decisions: 921
    variables: 580254
  - horizon: 40
    result: unknown
    conflicts: 600
    decisions: 873
    variables: 663099
  - horizon: 45
    result: unknown
    conflicts: 540
    decisions: 776
    variables: 745944
  - horizon: 50
    result: unknown
    conflicts: 480
    decisions: 748
    variables: 828789
  - horizon: 55
    result: unknown
    conflicts: 420
    decisions: 663
    variables: 911634
  - horizon: 60
    result: unknown
    conflicts: 360
    decisions: 651
    variables: 994479
  - horizon: 65
    result: unknown
    conflicts: 300
    decisions: 530
    variables: 1077324
  - horizon: 70
    result: unknown
    conflicts: 240
    decisions: 411
    variables: 1160169
  - horizon: 75
    result: unknown
    conflicts: 181
    decisions: 322
    variables: 1243014
  - horizon: 80
    result: satisfiable
    conflicts: 104
    decisions: 230
    variables: 1325859
  - horizon: 85
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 1408704
...

