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-10.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192
Domain: tidybot
Problem: test
Parser: 54878 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 18  5.08 secs
Goal: conjunctive
Simplified: 21539 ground actions and 419 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.26 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 347 MB)
Horizon 0: 419 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 110209 variables
5 UNSAT (0 decisions 0 conflicts)
Horizon 10: 219999 variables
10 UNSAT (0 decisions 0 conflicts)
Horizon 15: 329789 variables
15 UNSAT (0 decisions 0 conflicts)
Horizon 20: 439579 variables
				Allocated 32 MB (total 835 MB)
				Allocated 32 MB permanent (total 976 MB)
Horizon 25: 549369 variables
Horizon 30: 659159 variables
				Allocated 32 MB permanent (total 1245 MB)
Horizon 35: 768949 variables
Horizon 40: 878739 variables
				Allocated 32 MB permanent (total 1540 MB)
Horizon 45: 988529 variables
				Allocated 32 MB permanent (total 1714 MB)
Horizon 50: 1098319 variables
				Allocated 32 MB permanent (total 1893 MB)
Horizon 55: 1208109 variables
				Allocated 32 MB permanent (total 2080 MB)
Horizon 60: 1317899 variables
				Allocated 32 MB permanent (total 2272 MB)
Horizon 65: 1427689 variables
				Allocated 32 MB permanent (total 2472 MB)
Horizon 70: 1537479 variables
				Allocated 32 MB permanent (total 2677 MB)
Horizon 75: 1647269 variables
				Allocated 32 MB permanent (total 2890 MB)
				Allocated 32 MB permanent (total 2922 MB)
Horizon 80: 1757059 variables
SAT (12 ID 407 decisions 251 conflicts 1317899 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 7.0: base-down(pr2,x6,y0,y1)
STEP 7.1: park(pr2)
STEP 8.0: get-left(pr2,x6,y1,xrel0,x6,yrel0,y1,object3,x5)
STEP 8.1: gripper-up(pr2,x6,y1,xrel0,x6,yrel0,yrel-1,y1,y0)
STEP 9: gripper-left(pr2,x6,y1,xrel0,xrel-1,x6,x5,yrel-1,y0)
STEP 10: gripper-down(pr2,x6,y1,xrel-1,x5,yrel-1,yrel0,y0,y1)
STEP 11.0: put-left(pr2,x6,y1,xrel-1,x5,yrel0,y1,object3,x4)
STEP 11.1: gripper-right(pr2,x6,y1,xrel-1,xrel0,x5,x6,yrel0,y1)
STEP 12: unpark(pr2,xrel0,yrel0)
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 16.0: base-down(pr2,x6,y4,y5)
STEP 16.1: park(pr2)
STEP 17: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6)
STEP 18: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5)
STEP 19: unpark(pr2,xrel0,yrel0)
STEP 20: base-left(pr2,x6,x5,y5)
STEP 21.0: base-down(pr2,x5,y5,y6)
STEP 21.1: park(pr2)
STEP 22: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
STEP 23.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3)
STEP 23.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5)
STEP 24.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3)
STEP 24.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6)
STEP 25: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
STEP 26: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6)
STEP 27.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7)
STEP 27.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6)
STEP 28: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
STEP 29.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3)
STEP 29.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
STEP 30: finish-object(object1,x3,y6) unpark(pr2,xrel0,yrel0)
STEP 31: base-up(pr2,x5,y6,y5)
STEP 32: base-right(pr2,x5,x6,y5)
STEP 33: base-up(pr2,x6,y5,y4)
STEP 34.0: base-up(pr2,x6,y4,y3)
STEP 34.1: park(pr2)
STEP 35: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
STEP 36: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel0,y3)
STEP 37: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
STEP 38: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2)
STEP 39.0: get-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object2,x4)
STEP 39.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2)
STEP 40: gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3)
STEP 41: unpark(pr2,xrel0,yrel0)
STEP 42: base-down(pr2,x6,y3,y4)
STEP 43.0: base-down(pr2,x6,y4,y5)
STEP 43.1: park(pr2)
STEP 44: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
STEP 45.0: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4)
STEP 45.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel0,y5)
STEP 46: finish-object(object2,x4,y5) unpark(pr2,xrel0,yrel0)
STEP 47.0: base-down(pr2,x6,y5,y6)
STEP 47.1: park(pr2)
STEP 48: unpark(pr2,xrel0,yrel0)
STEP 49: base-up(pr2,x6,y6,y5)
STEP 50: base-up(pr2,x6,y5,y4)
STEP 51: base-up(pr2,x6,y4,y3)
STEP 52: base-left(pr2,x6,x5,y3)
STEP 53.0: base-left(pr2,x5,x4,y3)
STEP 53.1: park(pr2)
STEP 54: gripper-up(pr2,x4,y3,xrel0,x4,yrel0,yrel-1,y3,y2)
STEP 55.0: get-up(pr2,x4,y3,xrel0,x4,yrel-1,y2,object3,y1)
STEP 55.1: gripper-left(pr2,x4,y3,xrel0,xrel-1,x4,x3,yrel-1,y2)
STEP 56: put-right(pr2,x4,y3,xrel-1,x3,yrel-1,y2,object3,x4)
STEP 57: finish-object(object3,x4,y2)
77 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 21.86 # [s]
  preprocessing: 10.01 # [s]
maxLearnedClauseLength: 72981
groundActions:
  afterParsing: 54878
  afterPreprocessing: 21539
stateVariables:
  afterParsing: 926
  afterPreprocessing: 419
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 60
  actions: 77
iterations:
  - horizon: 0
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 419
  - horizon: 5
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 110209
  - horizon: 10
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 219999
  - horizon: 15
    result: unsatisfiable
    conflicts: 0
    decisions: 0
    variables: 329789
  - horizon: 20
    result: unknown
    conflicts: 782
    decisions: 860
    variables: 439579
  - horizon: 25
    result: unknown
    conflicts: 722
    decisions: 891
    variables: 549369
  - horizon: 30
    result: unknown
    conflicts: 660
    decisions: 944
    variables: 659159
  - horizon: 35
    result: unknown
    conflicts: 600
    decisions: 740
    variables: 768949
  - horizon: 40
    result: unknown
    conflicts: 540
    decisions: 731
    variables: 878739
  - horizon: 45
    result: unknown
    conflicts: 481
    decisions: 700
    variables: 988529
  - horizon: 50
    result: unknown
    conflicts: 421
    decisions: 633
    variables: 1098319
  - horizon: 55
    result: unknown
    conflicts: 360
    decisions: 503
    variables: 1208109
  - horizon: 60
    result: satisfiable
    conflicts: 251
    decisions: 407
    variables: 1317899
  - horizon: 65
    result: unknown
    conflicts: 180
    decisions: 242
    variables: 1427689
  - horizon: 70
    result: unknown
    conflicts: 120
    decisions: 127
    variables: 1537479
  - horizon: 75
    result: unknown
    conflicts: 60
    decisions: 61
    variables: 1647269
  - horizon: 80
    result: unknown
    conflicts: 0
    decisions: 0
    variables: 1757059
...