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-9.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
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  4.28 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 4.39 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 352 MB)
Horizon 0: 421 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 112386 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 224351 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 336316 variables
				Allocated 32 MB (total 739 MB)
Horizon 20: 448281 variables
				Allocated 32 MB permanent (total 983 MB)
Horizon 25: 560246 variables
Horizon 30: 672211 variables
				Allocated 32 MB permanent (total 1254 MB)
Horizon 35: 784176 variables
				Allocated 32 MB permanent (total 1415 MB)
Horizon 40: 896141 variables
Horizon 45: 1008106 variables
				Allocated 32 MB permanent (total 1726 MB)
Horizon 50: 1120071 variables
				Allocated 32 MB permanent (total 1907 MB)
Horizon 55: 1232036 variables
				Allocated 32 MB permanent (total 2095 MB)
Horizon 60: 1344001 variables
				Allocated 32 MB permanent (total 2289 MB)
Horizon 65: 1455966 variables
				Allocated 32 MB permanent (total 2490 MB)
Horizon 70: 1567931 variables
SAT (12 ID 318 decisions 168 conflicts 1344001 variables)
PLAN FOUND: 60 steps
STEP 0: finish-object(object3,x5,y3) unpark(pr2,xrel0,yrel0)
STEP 1: base-right(pr2,x0,x1,y0)
STEP 2: base-right(pr2,x1,x2,y0)
STEP 3.0: base-right(pr2,x2,x3,y0)
STEP 3.1: park(pr2)
STEP 4: gripper-left(pr2,x3,y0,xrel0,xrel-1,x3,x2,yrel0,y0)
STEP 5: gripper-right(pr2,x3,y0,xrel-1,xrel0,x2,x3,yrel0,y0)
STEP 6: gripper-right(pr2,x3,y0,xrel0,xrel1,x3,x4,yrel0,y0)
STEP 7: gripper-down(pr2,x3,y0,xrel1,x4,yrel0,yrel1,y0,y1)
STEP 8: gripper-up(pr2,x3,y0,xrel1,x4,yrel1,yrel0,y1,y0)
STEP 9: gripper-left(pr2,x3,y0,xrel1,xrel0,x4,x3,yrel0,y0)
STEP 10: unpark(pr2,xrel0,yrel0)
STEP 11: base-right(pr2,x3,x4,y0)
STEP 12: base-right(pr2,x4,x5,y0)
STEP 13.0: base-down(pr2,x5,y0,y1)
STEP 13.1: park(pr2)
STEP 14.0: get-down(pr2,x5,y1,xrel0,x5,yrel0,y1,object0,y2)
STEP 14.1: gripper-left(pr2,x5,y1,xrel0,xrel-1,x5,x4,yrel0,y1)
STEP 15.0: put-down(pr2,x5,y1,xrel-1,x4,yrel0,y1,object0,y2)
STEP 15.1: gripper-right(pr2,x5,y1,xrel-1,xrel0,x4,x5,yrel0,y1)
STEP 16: finish-object(object0,x4,y2) unpark(pr2,xrel0,yrel0)
STEP 17: base-up(pr2,x5,y1,y0)
STEP 18: base-right(pr2,x5,x6,y0)
STEP 19: base-right(pr2,x6,x7,y0)
STEP 20: base-down(pr2,x7,y0,y1)
STEP 21: base-down(pr2,x7,y1,y2)
STEP 22: base-down(pr2,x7,y2,y3)
STEP 23: base-down(pr2,x7,y3,y4)
STEP 24: base-down(pr2,x7,y4,y5)
STEP 25: base-left(pr2,x7,x6,y5)
STEP 26.0: base-left(pr2,x6,x5,y5)
STEP 26.1: park(pr2)
STEP 27: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
STEP 28.0: get-down(pr2,x5,y5,xrel0,x5,yrel1,y6,object1,y7)
STEP 28.1: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel1,y6)
STEP 29: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel1,y6)
STEP 30: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
STEP 31: unpark(pr2,xrel0,yrel0)
STEP 32: park(pr2)
STEP 33: gripper-right(pr2,x5,y5,xrel0,xrel1,x5,x6,yrel0,y5)
STEP 34: gripper-down(pr2,x5,y5,xrel1,x6,yrel0,yrel1,y5,y6)
STEP 35: gripper-left(pr2,x5,y5,xrel1,xrel0,x6,x5,yrel1,y6)
STEP 36: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
STEP 37: unpark(pr2,xrel0,yrel0)
STEP 38: base-right(pr2,x5,x6,y5)
STEP 39.0: base-down(pr2,x6,y5,y6)
STEP 39.1: park(pr2)
STEP 40: gripper-right(pr2,x6,y6,xrel0,xrel1,x6,x7,yrel0,y6)
STEP 41.0: put-down(pr2,x6,y6,xrel1,x7,yrel0,y6,object1,y7)
STEP 41.1: gripper-left(pr2,x6,y6,xrel1,xrel0,x7,x6,yrel0,y6)
STEP 42: finish-object(object1,x7,y7) unpark(pr2,xrel0,yrel0)
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: base-up(pr2,x7,y1,y0)
STEP 50: base-left(pr2,x7,x6,y0)
STEP 51: base-left(pr2,x6,x5,y0)
STEP 52: base-down(pr2,x5,y0,y1)
STEP 53: base-down(pr2,x5,y1,y2)
STEP 54: base-up(pr2,x5,y2,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)
72 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 19.04 # [s]
  preprocessing: 9.42 # [s]
maxLearnedClauseLength: 97451
groundActions:
  afterParsing: 54902
  afterPreprocessing: 21972
stateVariables:
  afterParsing: 926
  afterPreprocessing: 421
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 60
  actions: 72
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 421
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 112386
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 224351
  - horizon: 15
    result: unknown
    conflicts: 721
    decisions: 796
    variables: 336316
  - horizon: 20
    result: unknown
    conflicts: 660
    decisions: 820
    variables: 448281
  - horizon: 25
    result: unknown
    conflicts: 600
    decisions: 999
    variables: 560246
  - horizon: 30
    result: unknown
    conflicts: 540
    decisions: 759
    variables: 672211
  - horizon: 35
    result: unknown
    conflicts: 480
    decisions: 774
    variables: 784176
  - horizon: 40
    result: unknown
    conflicts: 420
    decisions: 644
    variables: 896141
  - horizon: 45
    result: unknown
    conflicts: 360
    decisions: 566
    variables: 1008106
  - horizon: 50
    result: unknown
    conflicts: 301
    decisions: 529
    variables: 1120071
  - horizon: 55
    result: unknown
    conflicts: 240
    decisions: 457
    variables: 1232036
  - horizon: 60
    result: satisfiable
    conflicts: 168
    decisions: 318
    variables: 1344001
  - horizon: 65
    result: unknown
    conflicts: 60
    decisions: 87
    variables: 1455966
  - horizon: 70
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 1567931
...

