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-6.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 38501 ground actions and 762 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  2.38 secs
Goal: conjunctive
Simplified: 13826 ground actions and 340 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.75 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 251 MB)
Horizon 0: 340 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 71170 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 142000 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 212830 variables
				Allocated 32 MB (total 620 MB)
15 UNSAT (56 decisions 56 conflicts)
Horizon 20: 283660 variables
Horizon 25: 354490 variables
				Allocated 32 MB permanent (total 944 MB)
Horizon 30: 425320 variables
Horizon 35: 496150 variables
Horizon 40: 566980 variables
				Allocated 32 MB permanent (total 1305 MB)
Horizon 45: 637810 variables
Horizon 50: 708640 variables
				Allocated 32 MB permanent (total 1578 MB)
Horizon 55: 779470 variables
				Allocated 32 MB (total 1610 MB)
				Allocated 32 MB permanent (total 1769 MB)
Horizon 60: 850300 variables
Horizon 65: 921130 variables
				Allocated 32 MB (total 1931 MB)
				Allocated 32 MB permanent (total 2098 MB)
Horizon 70: 991960 variables
				Allocated 32 MB permanent (total 2270 MB)
Horizon 75: 1062790 variables
Horizon 80: 1133620 variables
				Allocated 32 MB (total 2445 MB)
				Allocated 32 MB permanent (total 2625 MB)
Horizon 85: 1204450 variables
				Allocated 32 MB (total 2657 MB)
				Allocated 32 MB permanent (total 2840 MB)
Horizon 90: 1275280 variables
				Allocated 32 MB (total 2872 MB)
				Allocated 32 MB permanent (total 3060 MB)
Horizon 95: 1346110 variables
				Allocated 32 MB permanent (total 3252 MB)
Horizon 100: 1416940 variables
				Allocated 32 MB permanent (total 3449 MB)
Horizon 105: 1487770 variables
				Allocated 32 MB (total 3481 MB)
				Allocated 32 MB (total 3513 MB)
				Allocated 32 MB permanent (total 3713 MB)
Horizon 110: 1558600 variables
				Allocated 32 MB permanent (total 3918 MB)
				Allocated 32 MB permanent (total 3950 MB)
Horizon 115: 1629430 variables
				Allocated 32 MB (total 3982 MB)
				Allocated 32 MB (total 4014 MB)
20 UNSAT (1397 decisions 1287 conflicts)
				Allocated 32 MB permanent (total 4223 MB)
Horizon 120: 1700260 variables
				Allocated 32 MB (total 4255 MB)
				Allocated 32 MB (total 4287 MB)
				Allocated 32 MB (total 4319 MB)
				Allocated 32 MB (total 4351 MB)
				Allocated 32 MB (total 4383 MB)
				Allocated 32 MB (total 4415 MB)
				Allocated 32 MB (total 4447 MB)
				Allocated 32 MB (total 4479 MB)
						GC: 439.33 MB
				Allocated 32 MB (total 4511 MB)
				Allocated 32 MB (total 4543 MB)
				Allocated 32 MB (total 4575 MB)
				Allocated 32 MB (total 4607 MB)
				Allocated 32 MB (total 4639 MB)
				Allocated 32 MB (total 4671 MB)
				Allocated 32 MB (total 4703 MB)
				Allocated 32 MB (total 4735 MB)
				Allocated 32 MB (total 4767 MB)
				Allocated 32 MB (total 4799 MB)
				Allocated 32 MB (total 4831 MB)
				Allocated 32 MB (total 4863 MB)
				Allocated 32 MB (total 4895 MB)
						GC: 584.67 MB
				Allocated 32 MB (total 4927 MB)
				Allocated 32 MB (total 4959 MB)
				Allocated 32 MB (total 4991 MB)
				Allocated 32 MB (total 5023 MB)
				Allocated 32 MB (total 5055 MB)
				Allocated 32 MB (total 5087 MB)
				Allocated 32 MB (total 5119 MB)
				Allocated 32 MB (total 5151 MB)
				Allocated 32 MB (total 5183 MB)
				Allocated 32 MB (total 5215 MB)
				Allocated 32 MB (total 5247 MB)
				Allocated 32 MB (total 5279 MB)
				Allocated 32 MB (total 5311 MB)
				Allocated 32 MB (total 5343 MB)
				Allocated 32 MB (total 5375 MB)
				Allocated 32 MB (total 5407 MB)
				Allocated 32 MB (total 5439 MB)
						GC: 1025.10 MB
25 UNSAT (7983 decisions 7053 conflicts)
				Allocated 32 MB permanent (total 5652 MB)
Horizon 125: 1771090 variables
SAT (23 ID 2598 decisions 1311 conflicts 1629430 variables)
PLAN FOUND: 115 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-down(pr2,x2,y0,y1)
STEP 4: base-down(pr2,x2,y1,y2)
STEP 5: base-up(pr2,x2,y2,y1)
STEP 6: base-up(pr2,x2,y1,y0)
STEP 7.0: base-right(pr2,x2,x3,y0)
STEP 7.1: park(pr2)
STEP 8: gripper-right(pr2,x3,y0,xrel0,xrel1,x3,x4,yrel0,y0)
STEP 9: gripper-left(pr2,x3,y0,xrel1,xrel0,x4,x3,yrel0,y0)
STEP 10: unpark(pr2,xrel0,yrel0)
STEP 11: base-left(pr2,x3,x2,y0)
STEP 12: base-down(pr2,x2,y0,y1)
STEP 13: base-down(pr2,x2,y1,y2)
STEP 14.0: base-down(pr2,x2,y2,y3)
STEP 14.1: park(pr2)
STEP 15: gripper-left(pr2,x2,y3,xrel0,xrel-1,x2,x1,yrel0,y3)
STEP 16.0: get-down(pr2,x2,y3,xrel-1,x1,yrel0,y3,object2,y4)
STEP 16.1: gripper-right(pr2,x2,y3,xrel-1,xrel0,x1,x2,yrel0,y3)
STEP 17.0: put-left(pr2,x2,y3,xrel0,x2,yrel0,y3,object2,x1)
STEP 17.1: unpark(pr2,xrel0,yrel0)
STEP 18: base-up(pr2,x2,y3,y2)
STEP 19: base-up(pr2,x2,y2,y1)
STEP 20: base-up(pr2,x2,y1,y0)
STEP 21: base-right(pr2,x2,x3,y0)
STEP 22: base-right(pr2,x3,x4,y0)
STEP 23.0: base-down(pr2,x4,y0,y1)
STEP 23.1: park(pr2)
STEP 24: gripper-up(pr2,x4,y1,xrel0,x4,yrel0,yrel-1,y1,y0)
STEP 25: gripper-down(pr2,x4,y1,xrel0,x4,yrel-1,yrel0,y0,y1)
STEP 26: unpark(pr2,xrel0,yrel0)
STEP 27: base-down(pr2,x4,y1,y2)
STEP 28.0: base-right(pr2,x4,x5,y2)
STEP 28.1: park(pr2)
STEP 29: get-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object0,y3)
STEP 30.0: put-left(pr2,x5,y2,xrel0,x5,yrel0,y2,object0,x4)
STEP 30.1: unpark(pr2,xrel0,yrel0)
STEP 31: base-left(pr2,x5,x4,y2) finish-object(object0,x4,y2)
STEP 32: base-up(pr2,x4,y2,y1)
STEP 33: base-up(pr2,x4,y1,y0)
STEP 34: base-left(pr2,x4,x3,y0)
STEP 35: base-left(pr2,x3,x2,y0)
STEP 36: base-down(pr2,x2,y0,y1)
STEP 37: base-down(pr2,x2,y1,y2)
STEP 38: base-left(pr2,x2,x1,y2)
STEP 39.0: base-right(pr2,x1,x2,y2)
STEP 39.1: park(pr2)
STEP 40: gripper-left(pr2,x2,y2,xrel0,xrel-1,x2,x1,yrel0,y2)
STEP 41.0: get-down(pr2,x2,y2,xrel-1,x1,yrel0,y2,object2,y3)
STEP 41.1: gripper-right(pr2,x2,y2,xrel-1,xrel0,x1,x2,yrel0,y2)
STEP 42: unpark(pr2,xrel0,yrel0)
STEP 43: base-up(pr2,x2,y2,y1)
STEP 44: base-up(pr2,x2,y1,y0)
STEP 45: base-right(pr2,x2,x3,y0)
STEP 46: base-right(pr2,x3,x4,y0)
STEP 47: base-down(pr2,x4,y0,y1)
STEP 48: base-down(pr2,x4,y1,y2)
STEP 49: base-right(pr2,x4,x5,y2)
STEP 50: base-up(pr2,x5,y2,y1)
STEP 51: base-up(pr2,x5,y1,y0)
STEP 52: base-right(pr2,x5,x6,y0)
STEP 53: base-right(pr2,x6,x7,y0)
STEP 54: base-down(pr2,x7,y0,y1)
STEP 55: base-down(pr2,x7,y1,y2)
STEP 56: base-right(pr2,x7,x8,y2)
STEP 57: base-up(pr2,x8,y2,y1)
STEP 58: base-up(pr2,x8,y1,y0)
STEP 59: base-left(pr2,x8,x7,y0)
STEP 60: base-right(pr2,x7,x8,y0)
STEP 61.0: base-left(pr2,x8,x7,y0)
STEP 61.1: park(pr2)
STEP 62: unpark(pr2,xrel0,yrel0)
STEP 63: base-left(pr2,x7,x6,y0)
STEP 64: base-left(pr2,x6,x5,y0)
STEP 65.0: base-down(pr2,x5,y0,y1)
STEP 65.1: park(pr2)
STEP 66: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2)
STEP 67: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1)
STEP 68.0: put-down(pr2,x5,y1,xrel0,x5,yrel0,y1,object2,y2)
STEP 68.1: unpark(pr2,xrel0,yrel0)
STEP 69: base-up(pr2,x5,y1,y0) finish-object(object2,x5,y2)
STEP 70: base-right(pr2,x5,x6,y0)
STEP 71: base-right(pr2,x6,x7,y0)
STEP 72: base-down(pr2,x7,y0,y1)
STEP 73: base-down(pr2,x7,y1,y2)
STEP 74: base-down(pr2,x7,y2,y3)
STEP 75: base-down(pr2,x7,y3,y4)
STEP 76: base-down(pr2,x7,y4,y5)
STEP 77: base-left(pr2,x7,x6,y5)
STEP 78: base-left(pr2,x6,x5,y5)
STEP 79: base-left(pr2,x5,x4,y5)
STEP 80: base-down(pr2,x4,y5,y6)
STEP 81.0: base-down(pr2,x4,y6,y7)
STEP 81.1: park(pr2)
STEP 82: gripper-up(pr2,x4,y7,xrel0,x4,yrel0,yrel-1,y7,y6)
STEP 83: gripper-right(pr2,x4,y7,xrel0,xrel1,x4,x5,yrel-1,y6)
STEP 84.0: get-right(pr2,x4,y7,xrel1,x5,yrel-1,y6,object1,x6)
STEP 84.1: gripper-left(pr2,x4,y7,xrel1,xrel0,x5,x4,yrel-1,y6)
STEP 85: gripper-left(pr2,x4,y7,xrel0,xrel-1,x4,x3,yrel-1,y6)
STEP 86.0: put-left(pr2,x4,y7,xrel-1,x3,yrel-1,y6,object1,x2)
STEP 86.1: gripper-down(pr2,x4,y7,xrel-1,x3,yrel-1,yrel0,y6,y7)
STEP 87: finish-object(object1,x2,y6) gripper-right(pr2,x4,y7,xrel-1,xrel0,x3,x4,yrel0,y7)
STEP 88: unpark(pr2,xrel0,yrel0)
STEP 89: park(pr2)
STEP 90: gripper-right(pr2,x4,y7,xrel0,xrel1,x4,x5,yrel0,y7)
STEP 91: gripper-left(pr2,x4,y7,xrel1,xrel0,x5,x4,yrel0,y7)
STEP 92: unpark(pr2,xrel0,yrel0)
STEP 93: base-up(pr2,x4,y7,y6)
STEP 94: base-left(pr2,x4,x3,y6)
STEP 95: base-up(pr2,x3,y6,y5)
STEP 96: base-left(pr2,x3,x2,y5)
STEP 97.0: base-up(pr2,x2,y5,y4)
STEP 97.1: park(pr2)
STEP 98: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
STEP 99: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel1,y5)
STEP 100.0: get-down(pr2,x2,y4,xrel-1,x1,yrel1,y5,object3,y6)
STEP 100.1: gripper-up(pr2,x2,y4,xrel-1,x1,yrel1,yrel0,y5,y4)
STEP 101: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
STEP 102: unpark(pr2,xrel0,yrel0)
STEP 103: base-up(pr2,x2,y4,y3)
STEP 104: base-up(pr2,x2,y3,y2)
STEP 105: base-up(pr2,x2,y2,y1)
STEP 106: base-up(pr2,x2,y1,y0)
STEP 107: base-right(pr2,x2,x3,y0)
STEP 108: base-right(pr2,x3,x4,y0)
STEP 109: base-down(pr2,x4,y0,y1)
STEP 110: base-down(pr2,x4,y1,y2)
STEP 111.0: base-right(pr2,x4,x5,y2)
STEP 111.1: park(pr2)
STEP 112: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y3)
STEP 113: finish-object(object3,x5,y3)
135 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 271.78 # [s]
  preprocessing: 4.53 # [s]
maxLearnedClauseLength: 184154
groundActions:
  afterParsing: 38501
  afterPreprocessing: 13826
stateVariables:
  afterParsing: 762
  afterPreprocessing: 340
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 115
  actions: 135
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 340
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 71170
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 142000
  - horizon: 15
    result: unsatisfiable
    conflicts: 56
    decisions: 56
    variables: 212830
  - horizon: 20
    result: unsatisfiable
    conflicts: 1287
    decisions: 1397
    variables: 283660
  - horizon: 25
    result: unsatisfiable
    conflicts: 7053
    decisions: 7983
    variables: 354490
  - horizon: 30
    result: unknown
    conflicts: 7384
    decisions: 11017
    variables: 425320
  - horizon: 35
    result: unknown
    conflicts: 6728
    decisions: 9753
    variables: 496150
  - horizon: 40
    result: unknown
    conflicts: 6067
    decisions: 8127
    variables: 566980
  - horizon: 45
    result: unknown
    conflicts: 5471
    decisions: 7810
    variables: 637810
  - horizon: 50
    result: unknown
    conflicts: 4929
    decisions: 7125
    variables: 708640
  - horizon: 55
    result: unknown
    conflicts: 4450
    decisions: 6602
    variables: 779470
  - horizon: 60
    result: unknown
    conflicts: 3961
    decisions: 6177
    variables: 850300
  - horizon: 65
    result: unknown
    conflicts: 3610
    decisions: 5650
    variables: 921130
  - horizon: 70
    result: unknown
    conflicts: 3245
    decisions: 5338
    variables: 991960
  - horizon: 75
    result: unknown
    conflicts: 2944
    decisions: 4829
    variables: 1062790
  - horizon: 80
    result: unknown
    conflicts: 2640
    decisions: 4440
    variables: 1133620
  - horizon: 85
    result: unknown
    conflicts: 2402
    decisions: 4337
    variables: 1204450
  - horizon: 90
    result: unknown
    conflicts: 2164
    decisions: 3776
    variables: 1275280
  - horizon: 95
    result: unknown
    conflicts: 1922
    decisions: 3489
    variables: 1346110
  - horizon: 100
    result: unknown
    conflicts: 1749
    decisions: 3250
    variables: 1416940
  - horizon: 105
    result: unknown
    conflicts: 1563
    decisions: 2980
    variables: 1487770
  - horizon: 110
    result: unknown
    conflicts: 1442
    decisions: 2814
    variables: 1558600
  - horizon: 115
    result: satisfiable
    conflicts: 1311
    decisions: 2598
    variables: 1629430
  - horizon: 120
    result: unknown
    conflicts: 1141
    decisions: 2011
    variables: 1700260
  - horizon: 125
    result: unknown
    conflicts: 902
    decisions: 1683
    variables: 1771090
...

