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-3.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 38082 ground actions and 760 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15  2.36 secs
Goal: conjunctive
Simplified: 15807 ground actions and 337 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.20 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 274 MB)
Horizon 0: 337 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 81057 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 161777 variables
				Allocated 32 MB (total 556 MB)
10 UNSAT (30 decisions 29 conflicts)
Horizon 15: 242497 variables
Horizon 20: 323217 variables
Horizon 25: 403937 variables
				Allocated 32 MB permanent (total 979 MB)
Horizon 30: 484657 variables
Horizon 35: 565377 variables
				Allocated 32 MB permanent (total 1236 MB)
Horizon 40: 646097 variables
SAT (7 ID 148 decisions 83 conflicts 565377 variables)
PLAN FOUND: 35 steps
STEP 0: 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-down(pr2,x2,y0,y1)
STEP 6: base-down(pr2,x2,y1,y2)
STEP 7.0: base-right(pr2,x2,x3,y2)
STEP 7.1: park(pr2)
STEP 8.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
STEP 8.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
STEP 9: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
STEP 10.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
STEP 10.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
STEP 11: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
STEP 12.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
STEP 12.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
STEP 13.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
STEP 13.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
STEP 14.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1)
STEP 14.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
STEP 15: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
STEP 16.0: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
STEP 16.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
STEP 17: gripper-up(pr2,x3,y2,xrel0,x3,yrel0,yrel-1,y2,y1)
STEP 18: gripper-down(pr2,x3,y2,xrel0,x3,yrel-1,yrel0,y1,y2)
STEP 19.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1)
STEP 19.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
STEP 20.0: get-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1)
STEP 20.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
STEP 21: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
STEP 22.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object0,y4)
STEP 22.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
STEP 23.0: finish-object(object0,x3,y4) get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1)
STEP 23.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
STEP 24.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object1,y1)
STEP 24.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
STEP 25.0: finish-object(object1,x4,y1) get-down(pr2,x3,y2,xrel1,x4,yrel1,y3,object3,y4)
STEP 25.1: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
STEP 26: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
STEP 27.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object3,y1)
STEP 27.1: unpark(pr2,xrel0,yrel0)
STEP 28.0: base-down(pr2,x3,y2,y3) finish-object(object3,x3,y1)
STEP 28.1: park(pr2)
STEP 29: gripper-right(pr2,x3,y3,xrel0,xrel1,x3,x4,yrel0,y3)
STEP 30: gripper-down(pr2,x3,y3,xrel1,x4,yrel0,yrel1,y3,y4)
STEP 31.0: get-down(pr2,x3,y3,xrel1,x4,yrel1,y4,object2,y5)
STEP 31.1: gripper-up(pr2,x3,y3,xrel1,x4,yrel1,yrel0,y4,y3)
STEP 32: put-down(pr2,x3,y3,xrel1,x4,yrel0,y3,object2,y4)
STEP 33: finish-object(object2,x4,y4)
53 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 6.75 # [s]
  preprocessing: 5.01 # [s]
maxLearnedClauseLength: 25827
groundActions:
  afterParsing: 38082
  afterPreprocessing: 15807
stateVariables:
  afterParsing: 760
  afterPreprocessing: 337
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 35
  actions: 53
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 337
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 81057
  - horizon: 10
    result: unsatisfiable
    conflicts: 29
    decisions: 30
    variables: 161777
  - horizon: 15
    result: unknown
    conflicts: 361
    decisions: 419
    variables: 242497
  - horizon: 20
    result: unknown
    conflicts: 300
    decisions: 367
    variables: 323217
  - horizon: 25
    result: unknown
    conflicts: 243
    decisions: 381
    variables: 403937
  - horizon: 30
    result: unknown
    conflicts: 180
    decisions: 259
    variables: 484657
  - horizon: 35
    result: satisfiable
    conflicts: 83
    decisions: 148
    variables: 565377
  - horizon: 40
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 646097
...

