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-18.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192 -F 90 -T 90
Domain: tidybot
Problem: test
Parser: 75377 ground actions and 1099 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  9.05 secs
Goal: conjunctive
Simplified: 36707 ground actions and 503 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 12.42 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 565 MB)
				Allocated 32 MB permanent (total 879 MB)
				Allocated 32 MB permanent (total 911 MB)
Horizon 90: 3349403 variables
				Allocated 32 MB (total 951 MB)
SAT (0 ID 6964 decisions 3682 conflicts 3349403 variables)
PLAN FOUND: 90 steps
STEP 0: finish-object(object0,x1,y2) 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 4.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
STEP 4.1: ungrasp-cart(pr2,cart)
STEP 5.0: base-right(pr2,x1,x2,y0)
STEP 5.1: park(pr2)
STEP 6: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel0,y0)
STEP 7: gripper-down(pr2,x2,y0,xrel1,x3,yrel0,yrel1,y0,y1)
STEP 8: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0)
STEP 9: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
STEP 10: unpark(pr2,xrel0,yrel0)
STEP 11: base-right(pr2,x2,x3,y0)
STEP 12: base-down(pr2,x3,y0,y1)
STEP 13: base-down(pr2,x3,y1,y2)
STEP 14: base-down(pr2,x3,y2,y3)
STEP 15: base-down(pr2,x3,y3,y4)
STEP 16.0: base-down(pr2,x3,y4,y5)
STEP 16.1: park(pr2)
STEP 17.0: get-down(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y6)
STEP 17.1: unpark(pr2,xrel0,yrel0)
STEP 18: base-up(pr2,x3,y5,y4)
STEP 19: base-up(pr2,x3,y4,y3)
STEP 20: base-up(pr2,x3,y3,y2)
STEP 21: base-right(pr2,x3,x4,y2)
STEP 22: base-right(pr2,x4,x5,y2)
STEP 23: base-right(pr2,x5,x6,y2)
STEP 24: base-down(pr2,x6,y2,y3)
STEP 25.0: base-down(pr2,x6,y3,y4)
STEP 25.1: park(pr2)
STEP 26.0: put-down(pr2,x6,y4,xrel0,x6,yrel0,y4,object1,y5)
STEP 26.1: unpark(pr2,xrel0,yrel0)
STEP 27: base-up(pr2,x6,y4,y3) finish-object(object1,x6,y5)
STEP 28: base-up(pr2,x6,y3,y2)
STEP 29: base-left(pr2,x6,x5,y2)
STEP 30: base-left(pr2,x5,x4,y2)
STEP 31: base-right(pr2,x4,x5,y2)
STEP 32.0: base-left(pr2,x5,x4,y2)
STEP 32.1: park(pr2)
STEP 33: gripper-left(pr2,x4,y2,xrel0,xrel-1,x4,x3,yrel0,y2)
STEP 34.0: get-left(pr2,x4,y2,xrel-1,x3,yrel0,y2,object2,x2)
STEP 34.1: gripper-right(pr2,x4,y2,xrel-1,xrel0,x3,x4,yrel0,y2)
STEP 35: unpark(pr2,xrel0,yrel0)
STEP 36.0: base-left(pr2,x4,x3,y2)
STEP 36.1: park(pr2)
STEP 37: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
STEP 38: gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
STEP 39: unpark(pr2,xrel0,yrel0)
STEP 40: base-right(pr2,x3,x4,y2)
STEP 41: base-right(pr2,x4,x5,y2)
STEP 42: base-right(pr2,x5,x6,y2)
STEP 43.0: base-right(pr2,x6,x7,y2)
STEP 43.1: park(pr2)
STEP 44: gripper-down(pr2,x7,y2,xrel0,x7,yrel0,yrel1,y2,y3)
STEP 45.0: put-down(pr2,x7,y2,xrel0,x7,yrel1,y3,object2,y4)
STEP 45.1: gripper-up(pr2,x7,y2,xrel0,x7,yrel1,yrel0,y3,y2)
STEP 46: finish-object(object2,x7,y4) unpark(pr2,xrel0,yrel0)
STEP 47: base-left(pr2,x7,x6,y2)
STEP 48: base-left(pr2,x6,x5,y2)
STEP 49: base-left(pr2,x5,x4,y2)
STEP 50.0: base-down(pr2,x4,y2,y3)
STEP 50.1: park(pr2)
STEP 51: gripper-left(pr2,x4,y3,xrel0,xrel-1,x4,x3,yrel0,y3)
STEP 52: gripper-right(pr2,x4,y3,xrel-1,xrel0,x3,x4,yrel0,y3)
STEP 53: unpark(pr2,xrel0,yrel0)
STEP 54: base-down(pr2,x4,y3,y4)
STEP 55: base-down(pr2,x4,y4,y5)
STEP 56.0: base-left(pr2,x4,x3,y5)
STEP 56.1: park(pr2)
STEP 57: gripper-down(pr2,x3,y5,xrel0,x3,yrel0,yrel1,y5,y6)
STEP 58.0: get-left(pr2,x3,y5,xrel0,x3,yrel1,y6,object3,x2)
STEP 58.1: gripper-up(pr2,x3,y5,xrel0,x3,yrel1,yrel0,y6,y5)
STEP 59: unpark(pr2,xrel0,yrel0)
STEP 60: base-up(pr2,x3,y5,y4)
STEP 61: base-up(pr2,x3,y4,y3)
STEP 62: base-up(pr2,x3,y3,y2)
STEP 63: base-right(pr2,x3,x4,y2)
STEP 64: base-right(pr2,x4,x5,y2)
STEP 65: base-right(pr2,x5,x6,y2)
STEP 66.0: base-down(pr2,x6,y2,y3)
STEP 66.1: park(pr2)
STEP 67: gripper-down(pr2,x6,y3,xrel0,x6,yrel0,yrel1,y3,y4)
STEP 68: gripper-up(pr2,x6,y3,xrel0,x6,yrel1,yrel0,y4,y3)
STEP 69: unpark(pr2,xrel0,yrel0)
STEP 70: base-down(pr2,x6,y3,y4)
STEP 71.0: base-right(pr2,x6,x7,y4)
STEP 71.1: park(pr2)
STEP 72: put-down(pr2,x7,y4,xrel0,x7,yrel0,y4,object3,y5)
STEP 73: finish-object(object3,x7,y5)
93 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 48.20 # [s]
  preprocessing: 22.87 # [s]
maxLearnedClauseLength: 85295
groundActions:
  afterParsing: 75377
  afterPreprocessing: 36707
stateVariables:
  afterParsing: 1099
  afterPreprocessing: 503
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 90
  actions: 93
iterations:
...

