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-2.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192 -F 45 -T 45
Domain: tidybot
Problem: test
Parser: 38489 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  1.97 secs
Goal: conjunctive
Simplified: 14145 ground actions and 342 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.94 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 255 MB)
Horizon 45: 652257 variables
				Allocated 32 MB (total 408 MB)
				Allocated 32 MB (total 440 MB)
				Allocated 32 MB (total 472 MB)
				Allocated 32 MB (total 504 MB)
				Allocated 32 MB (total 536 MB)
				Allocated 32 MB (total 568 MB)
				Allocated 32 MB (total 600 MB)
				Allocated 32 MB (total 632 MB)
				Allocated 32 MB (total 664 MB)
				Allocated 32 MB (total 696 MB)
SAT (0 ID 15987 decisions 11365 conflicts 652257 variables)
PLAN FOUND: 45 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-down(pr2,x4,y0,y1)
STEP 6: base-down(pr2,x4,y1,y2)
STEP 7: base-right(pr2,x4,x5,y2)
STEP 8: base-right(pr2,x5,x6,y2)
STEP 9: base-right(pr2,x6,x7,y2)
STEP 10: base-down(pr2,x7,y2,y3)
STEP 11: base-down(pr2,x7,y3,y4)
STEP 12: base-left(pr2,x7,x6,y4)
STEP 13.0: base-left(pr2,x6,x5,y4)
STEP 13.1: park(pr2)
STEP 14: gripper-left(pr2,x5,y4,xrel0,xrel-1,x5,x4,yrel0,y4)
STEP 15.0: get-down(pr2,x5,y4,xrel-1,x4,yrel0,y4,object0,y5)
STEP 15.1: gripper-right(pr2,x5,y4,xrel-1,xrel0,x4,x5,yrel0,y4)
STEP 16: put-left(pr2,x5,y4,xrel0,x5,yrel0,y4,object0,x4)
STEP 17.0: finish-object(object0,x4,y4) get-down(pr2,x5,y4,xrel0,x5,yrel0,y4,object1,y5)
STEP 17.1: unpark(pr2,xrel0,yrel0)
STEP 18.0: base-down(pr2,x5,y4,y5)
STEP 18.1: park(pr2)
STEP 19.0: put-left(pr2,x5,y5,xrel0,x5,yrel0,y5,object1,x4)
STEP 19.1: unpark(pr2,xrel0,yrel0)
STEP 20: base-right(pr2,x5,x6,y5) finish-object(object1,x4,y5)
STEP 21.0: base-up(pr2,x6,y5,y4)
STEP 21.1: park(pr2)
STEP 22.0: get-left(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,x5)
STEP 22.1: unpark(pr2,xrel0,yrel0)
STEP 23: base-right(pr2,x6,x7,y4)
STEP 24: base-up(pr2,x7,y4,y3)
STEP 25: base-up(pr2,x7,y3,y2)
STEP 26: base-left(pr2,x7,x6,y2)
STEP 27.0: base-left(pr2,x6,x5,y2)
STEP 27.1: park(pr2)
STEP 28.0: put-up(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y1)
STEP 28.1: unpark(pr2,xrel0,yrel0)
STEP 29: base-left(pr2,x5,x4,y2) finish-object(object3,x5,y1)
STEP 30.0: base-left(pr2,x4,x3,y2)
STEP 30.1: park(pr2)
STEP 31: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
STEP 32: gripper-down(pr2,x3,y2,xrel-1,x2,yrel0,yrel1,y2,y3)
STEP 33.0: get-left(pr2,x3,y2,xrel-1,x2,yrel1,y3,object2,x1)
STEP 33.1: gripper-up(pr2,x3,y2,xrel-1,x2,yrel1,yrel0,y3,y2)
STEP 34: gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
STEP 35: unpark(pr2,xrel0,yrel0)
STEP 36: base-right(pr2,x3,x4,y2)
STEP 37: base-right(pr2,x4,x5,y2)
STEP 38: base-right(pr2,x5,x6,y2)
STEP 39: base-right(pr2,x6,x7,y2)
STEP 40: base-down(pr2,x7,y2,y3)
STEP 41: base-down(pr2,x7,y3,y4)
STEP 42.0: base-left(pr2,x7,x6,y4)
STEP 42.1: park(pr2)
STEP 43: put-left(pr2,x6,y4,xrel0,x6,yrel0,y4,object2,x5)
STEP 44: finish-object(object2,x5,y4)
60 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 30.16 # [s]
  preprocessing: 4.33 # [s]
maxLearnedClauseLength: 173141
groundActions:
  afterParsing: 38489
  afterPreprocessing: 14145
stateVariables:
  afterParsing: 762
  afterPreprocessing: 342
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 45
  actions: 60
iterations:
...

