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-16.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 54072 ground actions and 918 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  5.01 secs
Goal: conjunctive
Simplified: 26722 ground actions and 415 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.27 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 414 MB)
Horizon 0: 415 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 136100 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 271785 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 407470 variables
				Allocated 32 MB (total 811 MB)
				Allocated 32 MB permanent (total 951 MB)
Horizon 20: 543155 variables
Horizon 25: 678840 variables
15 UNSAT (160 decisions 156 conflicts)
				Allocated 32 MB permanent (total 1224 MB)
Horizon 30: 814525 variables
Horizon 35: 950210 variables
				Allocated 32 MB permanent (total 1529 MB)
Horizon 40: 1085895 variables
				Allocated 32 MB permanent (total 1710 MB)
Horizon 45: 1221580 variables
				Allocated 32 MB permanent (total 1899 MB)
Horizon 50: 1357265 variables
				Allocated 32 MB permanent (total 2095 MB)
Horizon 55: 1492950 variables
				Allocated 32 MB permanent (total 2300 MB)
				Allocated 32 MB permanent (total 2332 MB)
Horizon 60: 1628635 variables
				Allocated 32 MB permanent (total 2544 MB)
Horizon 65: 1764320 variables
				Allocated 32 MB permanent (total 2765 MB)
Horizon 70: 1900005 variables
				Allocated 32 MB permanent (total 2994 MB)
				Allocated 32 MB permanent (total 3026 MB)
Horizon 75: 2035690 variables
				Allocated 32 MB permanent (total 3263 MB)
				Allocated 32 MB permanent (total 3295 MB)
Horizon 80: 2171375 variables
				Allocated 32 MB (total 3327 MB)
				Allocated 32 MB permanent (total 3571 MB)
Horizon 85: 2307060 variables
				Allocated 32 MB permanent (total 3824 MB)
				Allocated 32 MB permanent (total 3856 MB)
Horizon 90: 2442745 variables
				Allocated 32 MB permanent (total 4117 MB)
				Allocated 32 MB permanent (total 4149 MB)
Horizon 95: 2578430 variables
				Allocated 32 MB permanent (total 4418 MB)
				Allocated 32 MB permanent (total 4450 MB)
Horizon 100: 2714115 variables
				Allocated 32 MB permanent (total 4727 MB)
				Allocated 32 MB permanent (total 4759 MB)
				Allocated 32 MB permanent (total 4791 MB)
Horizon 105: 2849800 variables
				Allocated 32 MB permanent (total 5075 MB)
				Allocated 32 MB permanent (total 5107 MB)
Horizon 110: 2985485 variables
				Allocated 32 MB (total 5139 MB)
				Allocated 32 MB permanent (total 5432 MB)
				Allocated 32 MB permanent (total 5464 MB)
Horizon 115: 3121170 variables
				Allocated 32 MB (total 5496 MB)
				Allocated 32 MB (total 5528 MB)
				Allocated 32 MB (total 5560 MB)
						GC: 125.99 MB
SAT (19 ID 984 decisions 576 conflicts 2578430 variables)
PLAN FOUND: 95 steps
STEP 0: unpark(pr2,xrel0,yrel0)
STEP 1: base-right(pr2,x0,x1,y0)
STEP 2: base-right(pr2,x1,x2,y0)
STEP 3: base-left(pr2,x2,x1,y0)
STEP 4: base-down(pr2,x1,y0,y1)
STEP 5: base-right(pr2,x1,x2,y1)
STEP 6: base-down(pr2,x2,y1,y2)
STEP 7: base-up(pr2,x2,y2,y1)
STEP 8: base-left(pr2,x2,x1,y1)
STEP 9: grasp-cart-left(pr2,cart,x1,y1,x0)
STEP 10.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
STEP 10.1: ungrasp-cart(pr2,cart)
STEP 11.0: base-right(pr2,x1,x2,y0)
STEP 11.1: park(pr2)
STEP 12: gripper-down(pr2,x2,y0,xrel0,x2,yrel0,yrel1,y0,y1)
STEP 13: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel1,y1)
STEP 14: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0)
STEP 15: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
STEP 16: unpark(pr2,xrel0,yrel0)
STEP 17.0: base-down(pr2,x2,y0,y1)
STEP 17.1: park(pr2)
STEP 18: gripper-left(pr2,x2,y1,xrel0,xrel-1,x2,x1,yrel0,y1)
STEP 19: gripper-right(pr2,x2,y1,xrel-1,xrel0,x1,x2,yrel0,y1)
STEP 20: unpark(pr2,xrel0,yrel0)
STEP 21: base-right(pr2,x2,x3,y1)
STEP 22: base-right(pr2,x3,x4,y1)
STEP 23: base-right(pr2,x4,x5,y1)
STEP 24: base-down(pr2,x5,y1,y2)
STEP 25: base-down(pr2,x5,y2,y3)
STEP 26: base-down(pr2,x5,y3,y4)
STEP 27: base-down(pr2,x5,y4,y5)
STEP 28: base-down(pr2,x5,y5,y6)
STEP 29: base-left(pr2,x5,x4,y6)
STEP 30: base-right(pr2,x4,x5,y6)
STEP 31: base-up(pr2,x5,y6,y5)
STEP 32: base-up(pr2,x5,y5,y4)
STEP 33: base-up(pr2,x5,y4,y3)
STEP 34: base-up(pr2,x5,y3,y2)
STEP 35: base-down(pr2,x5,y2,y3)
STEP 36: base-down(pr2,x5,y3,y4)
STEP 37: base-down(pr2,x5,y4,y5)
STEP 38.0: base-down(pr2,x5,y5,y6)
STEP 38.1: park(pr2)
STEP 39: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
STEP 40: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7)
STEP 41.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3)
STEP 41.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7)
STEP 42: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
STEP 43: unpark(pr2,xrel0,yrel0)
STEP 44: base-up(pr2,x5,y6,y5)
STEP 45: base-up(pr2,x5,y5,y4)
STEP 46: base-up(pr2,x5,y4,y3)
STEP 47: base-up(pr2,x5,y3,y2)
STEP 48: base-up(pr2,x5,y2,y1)
STEP 49: base-left(pr2,x5,x4,y1)
STEP 50: base-left(pr2,x4,x3,y1)
STEP 51: base-left(pr2,x3,x2,y1)
STEP 52.0: base-down(pr2,x2,y1,y2)
STEP 52.1: park(pr2)
STEP 53.0: put-down(pr2,x2,y2,xrel0,x2,yrel0,y2,object0,y3)
STEP 53.1: unpark(pr2,xrel0,yrel0)
STEP 54: base-down(pr2,x2,y2,y3) finish-object(object0,x2,y3)
STEP 55.0: base-down(pr2,x2,y3,y4)
STEP 55.1: park(pr2)
STEP 56.0: get-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object1,x3)
STEP 56.1: unpark(pr2,xrel0,yrel0)
STEP 57: base-up(pr2,x2,y4,y3)
STEP 58.0: base-down(pr2,x2,y3,y4)
STEP 58.1: park(pr2)
STEP 59: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4)
STEP 60: put-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object1,x2)
STEP 61: finish-object(object1,x2,y4) get-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,x2)
STEP 62: put-up(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,y3)
STEP 63: finish-object(object2,x3,y3) gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4)
STEP 64: unpark(pr2,xrel0,yrel0)
STEP 65: base-up(pr2,x2,y4,y3)
STEP 66: base-up(pr2,x2,y3,y2)
STEP 67: base-up(pr2,x2,y2,y1)
STEP 68: base-right(pr2,x2,x3,y1)
STEP 69: base-right(pr2,x3,x4,y1)
STEP 70.0: base-right(pr2,x4,x5,y1)
STEP 70.1: park(pr2)
STEP 71: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2)
STEP 72: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1)
STEP 73: unpark(pr2,xrel0,yrel0)
STEP 74: base-left(pr2,x5,x4,y1)
STEP 75: base-left(pr2,x4,x3,y1)
STEP 76: base-right(pr2,x3,x4,y1)
STEP 77.0: base-right(pr2,x4,x5,y1)
STEP 77.1: park(pr2)
STEP 78: gripper-right(pr2,x5,y1,xrel0,xrel1,x5,x6,yrel0,y1)
STEP 79: gripper-left(pr2,x5,y1,xrel1,xrel0,x6,x5,yrel0,y1)
STEP 80: unpark(pr2,xrel0,yrel0)
STEP 81.0: base-right(pr2,x5,x6,y1)
STEP 81.1: park(pr2)
STEP 82: gripper-right(pr2,x6,y1,xrel0,xrel1,x6,x7,yrel0,y1)
STEP 83: gripper-down(pr2,x6,y1,xrel1,x7,yrel0,yrel1,y1,y2)
STEP 84.0: get-down(pr2,x6,y1,xrel1,x7,yrel1,y2,object3,y3)
STEP 84.1: gripper-up(pr2,x6,y1,xrel1,x7,yrel1,yrel0,y2,y1)
STEP 85: gripper-left(pr2,x6,y1,xrel1,xrel0,x7,x6,yrel0,y1)
STEP 86: unpark(pr2,xrel0,yrel0)
STEP 87: base-left(pr2,x6,x5,y1)
STEP 88: base-left(pr2,x5,x4,y1)
STEP 89: base-left(pr2,x4,x3,y1)
STEP 90: base-down(pr2,x3,y1,y2)
STEP 91.0: base-down(pr2,x3,y2,y3)
STEP 91.1: park(pr2)
STEP 92: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4)
STEP 93: finish-object(object3,x3,y4)
112 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 92.02 # [s]
  preprocessing: 12.17 # [s]
maxLearnedClauseLength: 147416
groundActions:
  afterParsing: 54072
  afterPreprocessing: 26722
stateVariables:
  afterParsing: 918
  afterPreprocessing: 415
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 95
  actions: 112
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 415
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 136100
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 271785
  - horizon: 15
    result: unsatisfiable
    conflicts: 156
    decisions: 160
    variables: 407470
  - horizon: 20
    result: unknown
    conflicts: 2521
    decisions: 2749
    variables: 543155
  - horizon: 25
    result: unknown
    conflicts: 2340
    decisions: 2690
    variables: 678840
  - horizon: 30
    result: unknown
    conflicts: 2102
    decisions: 2579
    variables: 814525
  - horizon: 35
    result: unknown
    conflicts: 1920
    decisions: 2497
    variables: 950210
  - horizon: 40
    result: unknown
    conflicts: 1743
    decisions: 2258
    variables: 1085895
  - horizon: 45
    result: unknown
    conflicts: 1561
    decisions: 2283
    variables: 1221580
  - horizon: 50
    result: unknown
    conflicts: 1381
    decisions: 1963
    variables: 1357265
  - horizon: 55
    result: unknown
    conflicts: 1260
    decisions: 1850
    variables: 1492950
  - horizon: 60
    result: unknown
    conflicts: 1142
    decisions: 1774
    variables: 1628635
  - horizon: 65
    result: unknown
    conflicts: 1022
    decisions: 1606
    variables: 1764320
  - horizon: 70
    result: unknown
    conflicts: 960
    decisions: 1512
    variables: 1900005
  - horizon: 75
    result: unknown
    conflicts: 840
    decisions: 1365
    variables: 2035690
  - horizon: 80
    result: unknown
    conflicts: 780
    decisions: 1237
    variables: 2171375
  - horizon: 85
    result: unknown
    conflicts: 723
    decisions: 1149
    variables: 2307060
  - horizon: 90
    result: unknown
    conflicts: 660
    decisions: 1146
    variables: 2442745
  - horizon: 95
    result: satisfiable
    conflicts: 576
    decisions: 984
    variables: 2578430
  - horizon: 100
    result: unknown
    conflicts: 540
    decisions: 993
    variables: 2714115
  - horizon: 105
    result: unknown
    conflicts: 481
    decisions: 860
    variables: 2849800
  - horizon: 110
    result: unknown
    conflicts: 420
    decisions: 706
    variables: 2985485
  - horizon: 115
    result: unknown
    conflicts: 420
    decisions: 699
    variables: 3121170
...

