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-15.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 54482 ground actions and 923 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18  6.00 secs
Goal: conjunctive
Simplified: 24195 ground actions and 416 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 5.25 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 380 MB)
Horizon 0: 416 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 123471 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 246526 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 369581 variables
15 UNSAT (0 decisions 0 conflicts)
Horizon 20: 492636 variables
				Allocated 32 MB (total 877 MB)
				Allocated 32 MB permanent (total 1022 MB)
Horizon 25: 615691 variables
Horizon 30: 738746 variables
				Allocated 32 MB permanent (total 1301 MB)
Horizon 35: 861801 variables
20 UNSAT (228 decisions 211 conflicts)
				Allocated 32 MB permanent (total 1468 MB)
Horizon 40: 984856 variables
				Allocated 32 MB permanent (total 1642 MB)
Horizon 45: 1107911 variables
				Allocated 32 MB permanent (total 1823 MB)
Horizon 50: 1230966 variables
				Allocated 32 MB permanent (total 2011 MB)
Horizon 55: 1354021 variables
				Allocated 32 MB permanent (total 2207 MB)
Horizon 60: 1477076 variables
				Allocated 32 MB permanent (total 2410 MB)
Horizon 65: 1600131 variables
SAT (12 ID 143 decisions 84 conflicts 1477076 variables)
PLAN FOUND: 60 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-right(pr2,x2,x3,y0)
STEP 4: base-right(pr2,x3,x4,y0)
STEP 5: base-right(pr2,x4,x5,y0)
STEP 6: base-right(pr2,x5,x6,y0)
STEP 7: base-right(pr2,x6,x7,y0)
STEP 8: base-left(pr2,x7,x6,y0)
STEP 9: base-down(pr2,x6,y0,y1)
STEP 10: base-left(pr2,x6,x5,y1)
STEP 11: base-down(pr2,x5,y1,y2)
STEP 12: base-up(pr2,x5,y2,y1)
STEP 13: base-down(pr2,x5,y1,y2)
STEP 14: base-down(pr2,x5,y2,y3)
STEP 15: base-down(pr2,x5,y3,y4)
STEP 16: base-down(pr2,x5,y4,y5)
STEP 17.0: base-left(pr2,x5,x4,y5)
STEP 17.1: park(pr2)
STEP 18.0: get-down(pr2,x4,y5,xrel0,x4,yrel0,y5,object0,y6)
STEP 18.1: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
STEP 19: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4)
STEP 20.0: put-up(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,y3)
STEP 20.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel-1,yrel0,y4,y5)
STEP 21: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
STEP 22: unpark(pr2,xrel0,yrel0)
STEP 23: base-left(pr2,x4,x3,y5)
STEP 24: base-up(pr2,x3,y5,y4)
STEP 25: base-up(pr2,x3,y4,y3)
STEP 26.0: base-left(pr2,x3,x2,y3)
STEP 26.1: park(pr2)
STEP 27.0: get-up(pr2,x2,y3,xrel0,x2,yrel0,y3,object1,y2)
STEP 27.1: unpark(pr2,xrel0,yrel0)
STEP 28.0: base-right(pr2,x2,x3,y3)
STEP 28.1: park(pr2)
STEP 29: gripper-up(pr2,x3,y3,xrel0,x3,yrel0,yrel-1,y3,y2)
STEP 30: put-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object1,y3)
STEP 31: get-down(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,y3)
STEP 32: put-left(pr2,x3,y3,xrel0,x3,yrel-1,y2,object0,x2)
STEP 33: finish-object(object0,x2,y2) gripper-down(pr2,x3,y3,xrel0,x3,yrel-1,yrel0,y2,y3)
STEP 34: get-left(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,x2)
STEP 35.0: put-up(pr2,x3,y3,xrel0,x3,yrel0,y3,object2,y2)
STEP 35.1: gripper-down(pr2,x3,y3,xrel0,x3,yrel0,yrel1,y3,y4)
STEP 36.0: finish-object(object2,x3,y2) get-up(pr2,x3,y3,xrel0,x3,yrel1,y4,object1,y3)
STEP 36.1: gripper-left(pr2,x3,y3,xrel0,xrel-1,x3,x2,yrel1,y4)
STEP 37.0: put-up(pr2,x3,y3,xrel-1,x2,yrel1,y4,object1,y3)
STEP 37.1: gripper-right(pr2,x3,y3,xrel-1,xrel0,x2,x3,yrel1,y4)
STEP 38: finish-object(object1,x2,y3) gripper-up(pr2,x3,y3,xrel0,x3,yrel1,yrel0,y4,y3)
STEP 39: unpark(pr2,xrel0,yrel0)
STEP 40: base-down(pr2,x3,y3,y4)
STEP 41.0: base-down(pr2,x3,y4,y5)
STEP 41.1: park(pr2)
STEP 42: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
STEP 43: gripper-down(pr2,x3,y5,xrel-1,x2,yrel0,yrel1,y5,y6)
STEP 44.0: get-left(pr2,x3,y5,xrel-1,x2,yrel1,y6,object3,x1)
STEP 44.1: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel1,y6)
STEP 45: gripper-right(pr2,x3,y5,xrel0,xrel1,x3,x4,yrel1,y6)
STEP 46: gripper-left(pr2,x3,y5,xrel1,xrel0,x4,x3,yrel1,y6)
STEP 47: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
STEP 48: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
STEP 49: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
STEP 50: unpark(pr2,xrel0,yrel0)
STEP 51: base-down(pr2,x3,y5,y6)
STEP 52.0: base-down(pr2,x3,y6,y7)
STEP 52.1: park(pr2)
STEP 53: gripper-right(pr2,x3,y7,xrel0,xrel1,x3,x4,yrel0,y7)
STEP 54: put-right(pr2,x3,y7,xrel1,x4,yrel0,y7,object3,x5)
STEP 55: finish-object(object3,x5,y7)
71 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 18.70 # [s]
  preprocessing: 12.04 # [s]
maxLearnedClauseLength: 102412
groundActions:
  afterParsing: 54482
  afterPreprocessing: 24195
stateVariables:
  afterParsing: 923
  afterPreprocessing: 416
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 60
  actions: 71
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 416
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 123471
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 246526
  - horizon: 15
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 369581
  - horizon: 20
    result: unsatisfiable
    conflicts: 211
    decisions: 228
    variables: 492636
  - horizon: 25
    result: unknown
    conflicts: 542
    decisions: 660
    variables: 615691
  - horizon: 30
    result: unknown
    conflicts: 480
    decisions: 593
    variables: 738746
  - horizon: 35
    result: unknown
    conflicts: 420
    decisions: 570
    variables: 861801
  - horizon: 40
    result: unknown
    conflicts: 360
    decisions: 491
    variables: 984856
  - horizon: 45
    result: unknown
    conflicts: 301
    decisions: 438
    variables: 1107911
  - horizon: 50
    result: unknown
    conflicts: 240
    decisions: 343
    variables: 1230966
  - horizon: 55
    result: unknown
    conflicts: 182
    decisions: 265
    variables: 1354021
  - horizon: 60
    result: satisfiable
    conflicts: 84
    decisions: 143
    variables: 1477076
  - horizon: 65
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 1600131
...