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-17.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 75679 ground actions and 1103 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16  8.66 secs
Goal: conjunctive
Simplified: 35109 ground actions and 505 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 10.88 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 541 MB)
Horizon 0: 505 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 178575 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 356645 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 534715 variables
				Allocated 32 MB (total 957 MB)
				Allocated 32 MB permanent (total 1107 MB)
Horizon 20: 712785 variables
				Allocated 32 MB permanent (total 1268 MB)
Horizon 25: 890855 variables
Horizon 30: 1068925 variables
				Allocated 32 MB permanent (total 1590 MB)
Horizon 35: 1246995 variables
				Allocated 32 MB permanent (total 1782 MB)
Horizon 40: 1425065 variables
				Allocated 32 MB permanent (total 1986 MB)
				Allocated 32 MB permanent (total 2018 MB)
Horizon 45: 1603135 variables
				Allocated 32 MB permanent (total 2231 MB)
Horizon 50: 1781205 variables
15 UNSAT (471 decisions 433 conflicts)
				Allocated 32 MB permanent (total 2455 MB)
				Allocated 32 MB permanent (total 2487 MB)
Horizon 55: 1959275 variables
				Allocated 32 MB permanent (total 2722 MB)
Horizon 60: 2137345 variables
				Allocated 32 MB permanent (total 2967 MB)
				Allocated 32 MB permanent (total 2999 MB)
Horizon 65: 2315415 variables
				Allocated 32 MB permanent (total 3255 MB)
				Allocated 32 MB permanent (total 3287 MB)
Horizon 70: 2493485 variables
				Allocated 32 MB permanent (total 3553 MB)
				Allocated 32 MB permanent (total 3585 MB)
Horizon 75: 2671555 variables
				Allocated 32 MB permanent (total 3862 MB)
				Allocated 32 MB permanent (total 3894 MB)
Horizon 80: 2849625 variables
				Allocated 32 MB permanent (total 4182 MB)
				Allocated 32 MB permanent (total 4214 MB)
				Allocated 32 MB permanent (total 4246 MB)
Horizon 85: 3027695 variables
				Allocated 32 MB permanent (total 4543 MB)
				Allocated 32 MB permanent (total 4575 MB)
Horizon 90: 3205765 variables
				Allocated 32 MB permanent (total 4884 MB)
				Allocated 32 MB permanent (total 4916 MB)
				Allocated 32 MB permanent (total 4948 MB)
Horizon 95: 3383835 variables
				Allocated 32 MB (total 4980 MB)
				Allocated 32 MB permanent (total 5299 MB)
				Allocated 32 MB permanent (total 5331 MB)
Horizon 100: 3561905 variables
				Allocated 32 MB permanent (total 5660 MB)
				Allocated 32 MB permanent (total 5692 MB)
				Allocated 32 MB permanent (total 5724 MB)
Horizon 105: 3739975 variables
				Allocated 32 MB permanent (total 6064 MB)
				Allocated 32 MB permanent (total 6096 MB)
				Allocated 32 MB permanent (total 6128 MB)
Horizon 110: 3918045 variables
				Allocated 32 MB permanent (total 6479 MB)
				Allocated 32 MB permanent (total 6511 MB)
				Allocated 32 MB permanent (total 6543 MB)
				Allocated 32 MB permanent (total 6575 MB)
Horizon 115: 4096115 variables
SAT (21 ID 334 decisions 161 conflicts 3739975 variables)
PLAN FOUND: 105 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: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
STEP 4.0: base-cart-left(pr2,cart,x2,x1,y0,x2,x1,y1)
STEP 4.1: ungrasp-cart(pr2,cart)
STEP 5: base-left(pr2,x1,x0,y0)
STEP 6: base-down(pr2,x0,y0,y1)
STEP 7: base-up(pr2,x0,y1,y0)
STEP 8: base-down(pr2,x0,y0,y1)
STEP 9: grasp-cart-right(pr2,cart,x0,y1,x1)
STEP 10.0: base-cart-up(pr2,cart,x0,y1,y0,x1,y1,y0)
STEP 10.1: ungrasp-cart(pr2,cart)
STEP 11: base-down(pr2,x0,y0,y1)
STEP 12: base-down(pr2,x0,y1,y2)
STEP 13: base-down(pr2,x0,y2,y3)
STEP 14: base-down(pr2,x0,y3,y4)
STEP 15.0: base-down(pr2,x0,y4,y5)
STEP 15.1: park(pr2)
STEP 16: gripper-up(pr2,x0,y5,xrel0,x0,yrel0,yrel-1,y5,y4)
STEP 17.0: get-right(pr2,x0,y5,xrel0,x0,yrel-1,y4,object2,x1)
STEP 17.1: gripper-down(pr2,x0,y5,xrel0,x0,yrel-1,yrel0,y4,y5)
STEP 18: gripper-down(pr2,x0,y5,xrel0,x0,yrel0,yrel1,y5,y6)
STEP 19: gripper-up(pr2,x0,y5,xrel0,x0,yrel1,yrel0,y6,y5)
STEP 20: unpark(pr2,xrel0,yrel0)
STEP 21.0: base-right(pr2,x0,x1,y5)
STEP 21.1: park(pr2)
STEP 22.0: put-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
STEP 22.1: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel0,y5)
STEP 23.0: get-down(pr2,x1,y5,xrel1,x2,yrel0,y5,object3,y6)
STEP 23.1: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
STEP 24: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6)
STEP 25: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6)
STEP 26.0: put-right(pr2,x1,y5,xrel1,x2,yrel1,y6,object3,x3)
STEP 26.1: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5)
STEP 27: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
STEP 28: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6)
STEP 29: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6)
STEP 30: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5)
STEP 31: gripper-up(pr2,x1,y5,xrel1,x2,yrel0,yrel-1,y5,y4)
STEP 32: gripper-down(pr2,x1,y5,xrel1,x2,yrel-1,yrel0,y4,y5)
STEP 33: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
STEP 34: unpark(pr2,xrel0,yrel0)
STEP 35: base-down(pr2,x1,y5,y6)
STEP 36.0: base-down(pr2,x1,y6,y7)
STEP 36.1: park(pr2)
STEP 37.0: get-down(pr2,x1,y7,xrel0,x1,yrel0,y7,object0,y8)
STEP 37.1: gripper-right(pr2,x1,y7,xrel0,xrel1,x1,x2,yrel0,y7)
STEP 38.0: put-up(pr2,x1,y7,xrel1,x2,yrel0,y7,object0,y6)
STEP 38.1: gripper-left(pr2,x1,y7,xrel1,xrel0,x2,x1,yrel0,y7)
STEP 39: finish-object(object0,x2,y6) unpark(pr2,xrel0,yrel0)
STEP 40.0: base-up(pr2,x1,y7,y6)
STEP 40.1: park(pr2)
STEP 41: gripper-left(pr2,x1,y6,xrel0,xrel-1,x1,x0,yrel0,y6)
STEP 42: gripper-right(pr2,x1,y6,xrel-1,xrel0,x0,x1,yrel0,y6)
STEP 43: unpark(pr2,xrel0,yrel0)
STEP 44.0: base-up(pr2,x1,y6,y5)
STEP 44.1: park(pr2)
STEP 45.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
STEP 45.1: unpark(pr2,xrel0,yrel0)
STEP 46: base-right(pr2,x1,x2,y5)
STEP 47: base-right(pr2,x2,x3,y5)
STEP 48: base-right(pr2,x3,x4,y5)
STEP 49: base-right(pr2,x4,x5,y5)
STEP 50.0: base-right(pr2,x5,x6,y5)
STEP 50.1: park(pr2)
STEP 51: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
STEP 52: gripper-down(pr2,x6,y5,xrel-1,x5,yrel0,yrel1,y5,y6)
STEP 53: gripper-up(pr2,x6,y5,xrel-1,x5,yrel1,yrel0,y6,y5)
STEP 54: gripper-up(pr2,x6,y5,xrel-1,x5,yrel0,yrel-1,y5,y4)
STEP 55.0: put-up(pr2,x6,y5,xrel-1,x5,yrel-1,y4,object2,y3)
STEP 55.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4)
STEP 56.0: get-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3)
STEP 56.1: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel-1,y4)
STEP 57: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4)
STEP 58.0: put-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3)
STEP 58.1: gripper-down(pr2,x6,y5,xrel0,x6,yrel-1,yrel0,y4,y5)
STEP 59: unpark(pr2,xrel0,yrel0)
STEP 60.0: base-up(pr2,x6,y5,y4)
STEP 60.1: park(pr2)
STEP 61: gripper-left(pr2,x6,y4,xrel0,xrel-1,x6,x5,yrel0,y4)
STEP 62.0: get-up(pr2,x6,y4,xrel-1,x5,yrel0,y4,object2,y3)
STEP 62.1: gripper-right(pr2,x6,y4,xrel-1,xrel0,x5,x6,yrel0,y4)
STEP 63: unpark(pr2,xrel0,yrel0)
STEP 64: base-up(pr2,x6,y4,y3)
STEP 65: base-up(pr2,x6,y3,y2)
STEP 66.0: base-left(pr2,x6,x5,y2)
STEP 66.1: park(pr2)
STEP 67: put-right(pr2,x5,y2,xrel0,x5,yrel0,y2,object2,x6)
STEP 68: finish-object(object2,x6,y2) gripper-down(pr2,x5,y2,xrel0,x5,yrel0,yrel1,y2,y3)
STEP 69.0: get-right(pr2,x5,y2,xrel0,x5,yrel1,y3,object1,x6)
STEP 69.1: gripper-up(pr2,x5,y2,xrel0,x5,yrel1,yrel0,y3,y2)
STEP 70.0: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object1,y3)
STEP 70.1: unpark(pr2,xrel0,yrel0)
STEP 71.0: base-right(pr2,x5,x6,y2) finish-object(object1,x5,y3)
STEP 71.1: park(pr2)
STEP 72: gripper-down(pr2,x6,y2,xrel0,x6,yrel0,yrel1,y2,y3)
STEP 73: gripper-up(pr2,x6,y2,xrel0,x6,yrel1,yrel0,y3,y2)
STEP 74: unpark(pr2,xrel0,yrel0)
STEP 75: base-down(pr2,x6,y2,y3)
STEP 76: base-down(pr2,x6,y3,y4)
STEP 77: base-left(pr2,x6,x5,y4)
STEP 78: base-down(pr2,x5,y4,y5)
STEP 79.0: base-left(pr2,x5,x4,y5)
STEP 79.1: park(pr2)
STEP 80: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
STEP 81.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3)
STEP 81.1: gripper-right(pr2,x4,y5,xrel0,xrel1,x4,x5,yrel1,y6)
STEP 82: gripper-up(pr2,x4,y5,xrel1,x5,yrel1,yrel0,y6,y5)
STEP 83: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4)
STEP 84: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5)
STEP 85: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4)
STEP 86: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5)
STEP 87: gripper-left(pr2,x4,y5,xrel1,xrel0,x5,x4,yrel0,y5)
STEP 88: unpark(pr2,xrel0,yrel0)
STEP 89.0: base-right(pr2,x4,x5,y5)
STEP 89.1: park(pr2)
STEP 90: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
STEP 91: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
STEP 92: unpark(pr2,xrel0,yrel0)
STEP 93: base-right(pr2,x5,x6,y5)
STEP 94.0: base-up(pr2,x6,y5,y4)
STEP 94.1: park(pr2)
STEP 95: put-up(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,y3)
STEP 96: finish-object(object3,x6,y3)
128 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 63.99 # [s]
  preprocessing: 20.92 # [s]
maxLearnedClauseLength: 176324
groundActions:
  afterParsing: 75679
  afterPreprocessing: 35109
stateVariables:
  afterParsing: 1103
  afterPreprocessing: 505
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 105
  actions: 128
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 505
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 178575
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 356645
  - horizon: 15
    result: unsatisfiable
    conflicts: 433
    decisions: 471
    variables: 534715
  - horizon: 20
    result: unknown
    conflicts: 1200
    decisions: 1341
    variables: 712785
  - horizon: 25
    result: unknown
    conflicts: 1143
    decisions: 1426
    variables: 890855
  - horizon: 30
    result: unknown
    conflicts: 1020
    decisions: 1307
    variables: 1068925
  - horizon: 35
    result: unknown
    conflicts: 960
    decisions: 1343
    variables: 1246995
  - horizon: 40
    result: unknown
    conflicts: 840
    decisions: 1215
    variables: 1425065
  - horizon: 45
    result: unknown
    conflicts: 781
    decisions: 1199
    variables: 1603135
  - horizon: 50
    result: unknown
    conflicts: 720
    decisions: 1141
    variables: 1781205
  - horizon: 55
    result: unknown
    conflicts: 660
    decisions: 1107
    variables: 1959275
  - horizon: 60
    result: unknown
    conflicts: 601
    decisions: 1045
    variables: 2137345
  - horizon: 65
    result: unknown
    conflicts: 541
    decisions: 891
    variables: 2315415
  - horizon: 70
    result: unknown
    conflicts: 481
    decisions: 790
    variables: 2493485
  - horizon: 75
    result: unknown
    conflicts: 420
    decisions: 740
    variables: 2671555
  - horizon: 80
    result: unknown
    conflicts: 420
    decisions: 706
    variables: 2849625
  - horizon: 85
    result: unknown
    conflicts: 362
    decisions: 639
    variables: 3027695
  - horizon: 90
    result: unknown
    conflicts: 360
    decisions: 638
    variables: 3205765
  - horizon: 95
    result: unknown
    conflicts: 301
    decisions: 484
    variables: 3383835
  - horizon: 100
    result: unknown
    conflicts: 240
    decisions: 419
    variables: 3561905
  - horizon: 105
    result: satisfiable
    conflicts: 161
    decisions: 334
    variables: 3739975
  - horizon: 110
    result: unknown
    conflicts: 60
    decisions: 102
    variables: 3918045
  - horizon: 115
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 4096115
...

