tplp-planning-benchmark/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_16.out

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-16.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192 -F 95 -T 95
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  4.74 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 6.59 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 414 MB)
				Allocated 32 MB permanent (total 680 MB)
Horizon 95: 2578430 variables
				Allocated 32 MB (total 718 MB)
SAT (0 ID 308 decisions 159 conflicts 2578430 variables)
PLAN FOUND: 95 steps
STEP 0: unpark(pr2,xrel0,yrel0)
STEP 1: base-right(pr2,x0,x1,y0)
STEP 2: base-down(pr2,x1,y0,y1)
STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
STEP 4: ungrasp-cart(pr2,cart)
STEP 5.0: base-right(pr2,x1,x2,y1)
STEP 5.1: park(pr2)
STEP 6: gripper-right(pr2,x2,y1,xrel0,xrel1,x2,x3,yrel0,y1)
STEP 7: gripper-left(pr2,x2,y1,xrel1,xrel0,x3,x2,yrel0,y1)
STEP 8: unpark(pr2,xrel0,yrel0)
STEP 9: base-right(pr2,x2,x3,y1)
STEP 10: base-right(pr2,x3,x4,y1)
STEP 11: base-right(pr2,x4,x5,y1)
STEP 12: base-right(pr2,x5,x6,y1)
STEP 13: base-down(pr2,x6,y1,y2)
STEP 14: base-down(pr2,x6,y2,y3)
STEP 15: base-down(pr2,x6,y3,y4)
STEP 16: base-left(pr2,x6,x5,y4)
STEP 17: base-down(pr2,x5,y4,y5)
STEP 18.0: base-down(pr2,x5,y5,y6)
STEP 18.1: park(pr2)
STEP 19: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
STEP 20: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7)
STEP 21.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3)
STEP 21.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7)
STEP 22: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
STEP 23: unpark(pr2,xrel0,yrel0)
STEP 24: base-up(pr2,x5,y6,y5)
STEP 25: base-up(pr2,x5,y5,y4)
STEP 26: base-up(pr2,x5,y4,y3)
STEP 27: base-up(pr2,x5,y3,y2)
STEP 28: base-up(pr2,x5,y2,y1)
STEP 29: base-left(pr2,x5,x4,y1)
STEP 30: base-left(pr2,x4,x3,y1)
STEP 31.0: base-down(pr2,x3,y1,y2)
STEP 31.1: park(pr2)
STEP 32: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
STEP 33.0: put-down(pr2,x3,y2,xrel-1,x2,yrel0,y2,object0,y3)
STEP 33.1: gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
STEP 34: finish-object(object0,x2,y3) unpark(pr2,xrel0,yrel0)
STEP 35: base-down(pr2,x3,y2,y3)
STEP 36.0: base-down(pr2,x3,y3,y4)
STEP 36.1: park(pr2)
STEP 37: get-left(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x2)
STEP 38.0: put-up(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,y3)
STEP 38.1: unpark(pr2,xrel0,yrel0)
STEP 39.0: base-up(pr2,x3,y4,y3) finish-object(object2,x3,y3)
STEP 39.1: park(pr2)
STEP 40.0: get-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object1,y4)
STEP 40.1: unpark(pr2,xrel0,yrel0)
STEP 41.0: base-down(pr2,x3,y3,y4)
STEP 41.1: park(pr2)
STEP 42.0: put-left(pr2,x3,y4,xrel0,x3,yrel0,y4,object1,x2)
STEP 42.1: unpark(pr2,xrel0,yrel0)
STEP 43: base-up(pr2,x3,y4,y3) finish-object(object1,x2,y4)
STEP 44: base-up(pr2,x3,y3,y2)
STEP 45: base-up(pr2,x3,y2,y1)
STEP 46: base-right(pr2,x3,x4,y1)
STEP 47: base-right(pr2,x4,x5,y1)
STEP 48: base-right(pr2,x5,x6,y1)
STEP 49: base-left(pr2,x6,x5,y1)
STEP 50: base-down(pr2,x5,y1,y2)
STEP 51: base-up(pr2,x5,y2,y1)
STEP 52: base-left(pr2,x5,x4,y1)
STEP 53: base-left(pr2,x4,x3,y1)
STEP 54: base-down(pr2,x3,y1,y2)
STEP 55: base-down(pr2,x3,y2,y3)
STEP 56: base-left(pr2,x3,x2,y3)
STEP 57.0: base-down(pr2,x2,y3,y4)
STEP 57.1: park(pr2)
STEP 58: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4)
STEP 59: gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4)
STEP 60: unpark(pr2,xrel0,yrel0)
STEP 61: base-up(pr2,x2,y4,y3)
STEP 62: base-up(pr2,x2,y3,y2)
STEP 63: base-up(pr2,x2,y2,y1)
STEP 64: base-right(pr2,x2,x3,y1)
STEP 65: base-right(pr2,x3,x4,y1)
STEP 66: base-right(pr2,x4,x5,y1)
STEP 67.0: base-right(pr2,x5,x6,y1)
STEP 67.1: park(pr2)
STEP 68: gripper-down(pr2,x6,y1,xrel0,x6,yrel0,yrel1,y1,y2)
STEP 69: gripper-up(pr2,x6,y1,xrel0,x6,yrel1,yrel0,y2,y1)
STEP 70: unpark(pr2,xrel0,yrel0)
STEP 71: base-right(pr2,x6,x7,y1)
STEP 72.0: base-down(pr2,x7,y1,y2)
STEP 72.1: park(pr2)
STEP 73.0: get-down(pr2,x7,y2,xrel0,x7,yrel0,y2,object3,y3)
STEP 73.1: unpark(pr2,xrel0,yrel0)
STEP 74: base-left(pr2,x7,x6,y2)
STEP 75: base-left(pr2,x6,x5,y2)
STEP 76: base-up(pr2,x5,y2,y1)
STEP 77: base-left(pr2,x5,x4,y1)
STEP 78: base-left(pr2,x4,x3,y1)
STEP 79: base-down(pr2,x3,y1,y2)
STEP 80.0: base-down(pr2,x3,y2,y3)
STEP 80.1: park(pr2)
STEP 81: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4)
STEP 82: finish-object(object3,x3,y4)
102 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 15.28 # [s]
  preprocessing: 12.25 # [s]
maxLearnedClauseLength: 7088
groundActions:
  afterParsing: 54072
  afterPreprocessing: 26722
stateVariables:
  afterParsing: 918
  afterPreprocessing: 415
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 95
  actions: 102
iterations:
...