Madagascar 0.99999 01/02/2018 14:46:04 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 --stats-iter
ignoring --verbose
 -m 8192 -F 60 -T 60
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  4.01 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 4.68 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 352 MB)
				Allocated 32 MB permanent (total 544 MB)
Horizon 60: 1344001 variables
				Allocated 32 MB (total 581 MB)
SAT (0 ID 897 decisions 513 conflicts 1344001 variables)
PLAN FOUND: 60 steps
STEP 0: finish-object(object3,x5,y3) gripper-down(pr2,x0,y0,xrel0,x0,yrel0,yrel1,y0,y1)
STEP 1: gripper-up(pr2,x0,y0,xrel0,x0,yrel1,yrel0,y1,y0)
STEP 2: unpark(pr2,xrel0,yrel0)
STEP 3: base-right(pr2,x0,x1,y0)
STEP 4: base-right(pr2,x1,x2,y0)
STEP 5: base-right(pr2,x2,x3,y0)
STEP 6.0: base-right(pr2,x3,x4,y0)
STEP 6.1: park(pr2)
STEP 7: gripper-down(pr2,x4,y0,xrel0,x4,yrel0,yrel1,y0,y1)
STEP 8: gripper-right(pr2,x4,y0,xrel0,xrel1,x4,x5,yrel1,y1)
STEP 9.0: get-down(pr2,x4,y0,xrel1,x5,yrel1,y1,object0,y2)
STEP 9.1: gripper-left(pr2,x4,y0,xrel1,xrel0,x5,x4,yrel1,y1)
STEP 10.0: put-down(pr2,x4,y0,xrel0,x4,yrel1,y1,object0,y2)
STEP 10.1: gripper-up(pr2,x4,y0,xrel0,x4,yrel1,yrel0,y1,y0)
STEP 11: finish-object(object0,x4,y2) unpark(pr2,xrel0,yrel0)
STEP 12.0: base-down(pr2,x4,y0,y1)
STEP 12.1: park(pr2)
STEP 13: gripper-right(pr2,x4,y1,xrel0,xrel1,x4,x5,yrel0,y1)
STEP 14: gripper-down(pr2,x4,y1,xrel1,x5,yrel0,yrel1,y1,y2)
STEP 15: gripper-up(pr2,x4,y1,xrel1,x5,yrel1,yrel0,y2,y1)
STEP 16: gripper-left(pr2,x4,y1,xrel1,xrel0,x5,x4,yrel0,y1)
STEP 17: unpark(pr2,xrel0,yrel0)
STEP 18: base-up(pr2,x4,y1,y0)
STEP 19: base-left(pr2,x4,x3,y0)
STEP 20: base-left(pr2,x3,x2,y0)
STEP 21: base-down(pr2,x2,y0,y1)
STEP 22: base-down(pr2,x2,y1,y2)
STEP 23: base-down(pr2,x2,y2,y3)
STEP 24: base-down(pr2,x2,y3,y4)
STEP 25: base-down(pr2,x2,y4,y5)
STEP 26: base-down(pr2,x2,y5,y6)
STEP 27: base-right(pr2,x2,x3,y6)
STEP 28: base-down(pr2,x3,y6,y7)
STEP 29: base-down(pr2,x3,y7,y8)
STEP 30: base-right(pr2,x3,x4,y8)
STEP 31: base-right(pr2,x4,x5,y8)
STEP 32.0: base-right(pr2,x5,x6,y8)
STEP 32.1: park(pr2)
STEP 33: unpark(pr2,xrel0,yrel0)
STEP 34.0: base-left(pr2,x6,x5,y8)
STEP 34.1: park(pr2)
STEP 35.0: get-up(pr2,x5,y8,xrel0,x5,yrel0,y8,object1,y7)
STEP 35.1: gripper-right(pr2,x5,y8,xrel0,xrel1,x5,x6,yrel0,y8)
STEP 36: gripper-up(pr2,x5,y8,xrel1,x6,yrel0,yrel-1,y8,y7)
STEP 37.0: put-right(pr2,x5,y8,xrel1,x6,yrel-1,y7,object1,x7)
STEP 37.1: gripper-down(pr2,x5,y8,xrel1,x6,yrel-1,yrel0,y7,y8)
STEP 38: finish-object(object1,x7,y7) gripper-left(pr2,x5,y8,xrel1,xrel0,x6,x5,yrel0,y8)
STEP 39: unpark(pr2,xrel0,yrel0)
STEP 40: base-right(pr2,x5,x6,y8)
STEP 41: base-up(pr2,x6,y8,y7)
STEP 42: base-up(pr2,x6,y7,y6)
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 49.0: base-up(pr2,x7,y1,y0)
STEP 49.1: park(pr2)
STEP 50: unpark(pr2,xrel0,yrel0)
STEP 51: base-left(pr2,x7,x6,y0)
STEP 52.0: base-left(pr2,x6,x5,y0)
STEP 52.1: park(pr2)
STEP 53: unpark(pr2,xrel0,yrel0)
STEP 54: base-down(pr2,x5,y0,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)
74 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 13.66 # [s]
  preprocessing: 9.42 # [s]
maxLearnedClauseLength: 185413
groundActions:
  afterParsing: 54902
  afterPreprocessing: 21972
stateVariables:
  afterParsing: 926
  afterPreprocessing: 421
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 60
  actions: 74
iterations:
...

