Madagascar 0.99999 01/02/2018 14:46:04 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 -F 115 -T 115
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  2.29 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 1.89 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 251 MB)
				Allocated 32 MB permanent (total 459 MB)
Horizon 115: 1629430 variables
				Allocated 32 MB (total 494 MB)
				Allocated 32 MB (total 526 MB)
				Allocated 32 MB (total 558 MB)
				Allocated 32 MB (total 590 MB)
				Allocated 32 MB (total 622 MB)
				Allocated 32 MB (total 654 MB)
				Allocated 32 MB (total 686 MB)
				Allocated 32 MB (total 718 MB)
				Allocated 32 MB (total 750 MB)
SAT (0 ID 10207 decisions 5449 conflicts 1629430 variables)
PLAN FOUND: 115 steps
STEP 0: unpark(pr2,xrel0,yrel0)
STEP 1.0: base-right(pr2,x0,x1,y0)
STEP 1.1: park(pr2)
STEP 2: gripper-right(pr2,x1,y0,xrel0,xrel1,x1,x2,yrel0,y0)
STEP 3: gripper-left(pr2,x1,y0,xrel1,xrel0,x2,x1,yrel0,y0)
STEP 4: unpark(pr2,xrel0,yrel0)
STEP 5: base-right(pr2,x1,x2,y0)
STEP 6: base-right(pr2,x2,x3,y0)
STEP 7: base-right(pr2,x3,x4,y0)
STEP 8: base-down(pr2,x4,y0,y1)
STEP 9: base-down(pr2,x4,y1,y2)
STEP 10.0: base-down(pr2,x4,y2,y3)
STEP 10.1: park(pr2)
STEP 11: get-right(pr2,x4,y3,xrel0,x4,yrel0,y3,object0,x5)
STEP 12.0: put-up(pr2,x4,y3,xrel0,x4,yrel0,y3,object0,y2)
STEP 12.1: unpark(pr2,xrel0,yrel0)
STEP 13: base-up(pr2,x4,y3,y2) finish-object(object0,x4,y2)
STEP 14: base-up(pr2,x4,y2,y1)
STEP 15: base-up(pr2,x4,y1,y0)
STEP 16: base-left(pr2,x4,x3,y0)
STEP 17: base-left(pr2,x3,x2,y0)
STEP 18: base-down(pr2,x2,y0,y1)
STEP 19: base-down(pr2,x2,y1,y2)
STEP 20: base-down(pr2,x2,y2,y3)
STEP 21: base-up(pr2,x2,y3,y2)
STEP 22: base-up(pr2,x2,y2,y1)
STEP 23: base-up(pr2,x2,y1,y0)
STEP 24: base-right(pr2,x2,x3,y0)
STEP 25: base-right(pr2,x3,x4,y0)
STEP 26: base-down(pr2,x4,y0,y1)
STEP 27: base-up(pr2,x4,y1,y0)
STEP 28: base-right(pr2,x4,x5,y0)
STEP 29: base-right(pr2,x5,x6,y0)
STEP 30: base-right(pr2,x6,x7,y0)
STEP 31: base-down(pr2,x7,y0,y1)
STEP 32: base-down(pr2,x7,y1,y2)
STEP 33: base-down(pr2,x7,y2,y3)
STEP 34: base-right(pr2,x7,x8,y3)
STEP 35: base-down(pr2,x8,y3,y4)
STEP 36: base-down(pr2,x8,y4,y5)
STEP 37: base-left(pr2,x8,x7,y5)
STEP 38: base-left(pr2,x7,x6,y5)
STEP 39: base-left(pr2,x6,x5,y5)
STEP 40.0: base-down(pr2,x5,y5,y6)
STEP 40.1: park(pr2)
STEP 41.0: get-right(pr2,x5,y6,xrel0,x5,yrel0,y6,object1,x6)
STEP 41.1: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
STEP 42: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
STEP 43: unpark(pr2,xrel0,yrel0)
STEP 44.0: base-left(pr2,x5,x4,y6)
STEP 44.1: park(pr2)
STEP 45: gripper-left(pr2,x4,y6,xrel0,xrel-1,x4,x3,yrel0,y6)
STEP 46.0: put-left(pr2,x4,y6,xrel-1,x3,yrel0,y6,object1,x2)
STEP 46.1: gripper-up(pr2,x4,y6,xrel-1,x3,yrel0,yrel-1,y6,y5)
STEP 47: finish-object(object1,x2,y6) gripper-down(pr2,x4,y6,xrel-1,x3,yrel-1,yrel0,y5,y6)
STEP 48: gripper-right(pr2,x4,y6,xrel-1,xrel0,x3,x4,yrel0,y6)
STEP 49: unpark(pr2,xrel0,yrel0)
STEP 50: base-left(pr2,x4,x3,y6)
STEP 51.0: base-up(pr2,x3,y6,y5)
STEP 51.1: park(pr2)
STEP 52: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
STEP 53: gripper-up(pr2,x3,y5,xrel-1,x2,yrel0,yrel-1,y5,y4)
STEP 54.0: get-left(pr2,x3,y5,xrel-1,x2,yrel-1,y4,object2,x1)
STEP 54.1: gripper-down(pr2,x3,y5,xrel-1,x2,yrel-1,yrel0,y4,y5)
STEP 55: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel0,y5)
STEP 56: unpark(pr2,xrel0,yrel0)
STEP 57: base-left(pr2,x3,x2,y5)
STEP 58: base-up(pr2,x2,y5,y4)
STEP 59: base-up(pr2,x2,y4,y3)
STEP 60: base-up(pr2,x2,y3,y2)
STEP 61: base-up(pr2,x2,y2,y1)
STEP 62.0: base-up(pr2,x2,y1,y0)
STEP 62.1: park(pr2)
STEP 63: unpark(pr2,xrel0,yrel0)
STEP 64.0: base-right(pr2,x2,x3,y0)
STEP 64.1: park(pr2)
STEP 65: unpark(pr2,xrel0,yrel0)
STEP 66.0: base-right(pr2,x3,x4,y0)
STEP 66.1: park(pr2)
STEP 67: gripper-right(pr2,x4,y0,xrel0,xrel1,x4,x5,yrel0,y0)
STEP 68: gripper-down(pr2,x4,y0,xrel1,x5,yrel0,yrel1,y0,y1)
STEP 69.0: put-down(pr2,x4,y0,xrel1,x5,yrel1,y1,object2,y2)
STEP 69.1: gripper-left(pr2,x4,y0,xrel1,xrel0,x5,x4,yrel1,y1)
STEP 70: finish-object(object2,x5,y2) gripper-up(pr2,x4,y0,xrel0,x4,yrel1,yrel0,y1,y0)
STEP 71: unpark(pr2,xrel0,yrel0)
STEP 72: base-left(pr2,x4,x3,y0)
STEP 73: base-left(pr2,x3,x2,y0)
STEP 74: base-down(pr2,x2,y0,y1)
STEP 75: base-down(pr2,x2,y1,y2)
STEP 76: base-down(pr2,x2,y2,y3)
STEP 77.0: base-down(pr2,x2,y3,y4)
STEP 77.1: park(pr2)
STEP 78: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
STEP 79: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel1,y5)
STEP 80.0: get-down(pr2,x2,y4,xrel-1,x1,yrel1,y5,object3,y6)
STEP 80.1: gripper-up(pr2,x2,y4,xrel-1,x1,yrel1,yrel0,y5,y4)
STEP 81: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
STEP 82: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
STEP 83: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
STEP 84: unpark(pr2,xrel0,yrel0)
STEP 85: base-up(pr2,x2,y4,y3)
STEP 86: base-up(pr2,x2,y3,y2)
STEP 87: base-up(pr2,x2,y2,y1)
STEP 88: base-up(pr2,x2,y1,y0)
STEP 89: base-right(pr2,x2,x3,y0)
STEP 90: base-right(pr2,x3,x4,y0)
STEP 91: base-down(pr2,x4,y0,y1)
STEP 92: base-down(pr2,x4,y1,y2)
STEP 93.0: base-right(pr2,x4,x5,y2)
STEP 93.1: park(pr2)
STEP 94: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y3)
STEP 95: finish-object(object3,x5,y3)
115 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 36.07 # [s]
  preprocessing: 4.60 # [s]
maxLearnedClauseLength: 151488
groundActions:
  afterParsing: 38501
  afterPreprocessing: 13826
stateVariables:
  afterParsing: 762
  afterPreprocessing: 340
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 115
  actions: 115
iterations:
...

