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-12.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192 -F 65 -T 65
Domain: tidybot
Problem: test
Parser: 53906 ground actions and 919 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  5.24 secs
Goal: conjunctive
Simplified: 27414 ground actions and 414 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.94 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 424 MB)
				Allocated 32 MB permanent (total 644 MB)
Horizon 65: 1809234 variables
				Allocated 32 MB (total 683 MB)
SAT (0 ID 2213 decisions 1414 conflicts 1809234 variables)
PLAN FOUND: 65 steps
STEP 0: finish-object(object3,x3,y1) unpark(pr2,xrel0,yrel0)
STEP 1: base-right(pr2,x0,x1,y0)
STEP 2: base-left(pr2,x1,x0,y0)
STEP 3: grasp-cart-below(pr2,cart,x0,y0,y1)
STEP 4: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
STEP 5.0: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
STEP 5.1: ungrasp-cart(pr2,cart)
STEP 6: base-right(pr2,x2,x3,y0)
STEP 7: base-right(pr2,x3,x4,y0)
STEP 8: base-right(pr2,x4,x5,y0)
STEP 9: base-right(pr2,x5,x6,y0)
STEP 10: base-down(pr2,x6,y0,y1)
STEP 11.0: base-down(pr2,x6,y1,y2)
STEP 11.1: park(pr2)
STEP 12: gripper-left(pr2,x6,y2,xrel0,xrel-1,x6,x5,yrel0,y2)
STEP 13.0: get-up(pr2,x6,y2,xrel-1,x5,yrel0,y2,object2,y1)
STEP 13.1: gripper-right(pr2,x6,y2,xrel-1,xrel0,x5,x6,yrel0,y2)
STEP 14: unpark(pr2,xrel0,yrel0)
STEP 15: base-down(pr2,x6,y2,y3)
STEP 16: base-down(pr2,x6,y3,y4)
STEP 17: base-right(pr2,x6,x7,y4)
STEP 18: base-down(pr2,x7,y4,y5)
STEP 19.0: base-right(pr2,x7,x8,y5)
STEP 19.1: park(pr2)
STEP 20: gripper-down(pr2,x8,y5,xrel0,x8,yrel0,yrel1,y5,y6)
STEP 21: gripper-up(pr2,x8,y5,xrel0,x8,yrel1,yrel0,y6,y5)
STEP 22: unpark(pr2,xrel0,yrel0)
STEP 23: base-down(pr2,x8,y5,y6)
STEP 24: base-left(pr2,x8,x7,y6)
STEP 25: base-left(pr2,x7,x6,y6)
STEP 26: base-down(pr2,x6,y6,y7)
STEP 27: base-left(pr2,x6,x5,y7)
STEP 28.0: base-left(pr2,x5,x4,y7)
STEP 28.1: park(pr2)
STEP 29: gripper-up(pr2,x4,y7,xrel0,x4,yrel0,yrel-1,y7,y6)
STEP 30.0: put-up(pr2,x4,y7,xrel0,x4,yrel-1,y6,object2,y5)
STEP 30.1: gripper-left(pr2,x4,y7,xrel0,xrel-1,x4,x3,yrel-1,y6)
STEP 31: gripper-right(pr2,x4,y7,xrel-1,xrel0,x3,x4,yrel-1,y6)
STEP 32: gripper-down(pr2,x4,y7,xrel0,x4,yrel-1,yrel0,y6,y7)
STEP 33: unpark(pr2,xrel0,yrel0)
STEP 34: base-up(pr2,x4,y7,y6)
STEP 35: base-up(pr2,x4,y6,y5)
STEP 36: base-up(pr2,x4,y5,y4)
STEP 37: base-down(pr2,x4,y4,y5)
STEP 38.0: base-left(pr2,x4,x3,y5)
STEP 38.1: park(pr2)
STEP 39.0: get-up(pr2,x3,y5,xrel0,x3,yrel0,y5,object1,y4)
STEP 39.1: unpark(pr2,xrel0,yrel0)
STEP 40.0: base-right(pr2,x3,x4,y5)
STEP 40.1: park(pr2)
STEP 41: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
STEP 42: put-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object1,x4)
STEP 43: get-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object2,x4)
STEP 44: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel0,y5)
STEP 45: gripper-left(pr2,x4,y5,xrel0,xrel-1,x4,x3,yrel0,y5)
STEP 46.0: put-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object2,x4)
STEP 46.1: gripper-down(pr2,x4,y5,xrel-1,x3,yrel0,yrel1,y5,y6)
STEP 47: gripper-up(pr2,x4,y5,xrel-1,x3,yrel1,yrel0,y6,y5)
STEP 48.0: get-right(pr2,x4,y5,xrel-1,x3,yrel0,y5,object1,x4)
STEP 48.1: gripper-up(pr2,x4,y5,xrel-1,x3,yrel0,yrel-1,y5,y4)
STEP 49: put-down(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object1,y5)
STEP 50: get-down(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object1,y5)
STEP 51: put-down(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object1,y5)
STEP 52: finish-object(object1,x3,y5) get-right(pr2,x4,y5,xrel-1,x3,yrel-1,y4,object0,x4)
STEP 53: gripper-right(pr2,x4,y5,xrel-1,xrel0,x3,x4,yrel-1,y4)
STEP 54: put-left(pr2,x4,y5,xrel0,x4,yrel-1,y4,object0,x3)
STEP 55: finish-object(object0,x3,y4) gripper-down(pr2,x4,y5,xrel0,x4,yrel-1,yrel0,y4,y5)
STEP 56: unpark(pr2,xrel0,yrel0)
STEP 57.0: base-left(pr2,x4,x3,y5)
STEP 57.1: park(pr2)
STEP 58.0: get-right(pr2,x3,y5,xrel0,x3,yrel0,y5,object2,x4)
STEP 58.1: unpark(pr2,xrel0,yrel0)
STEP 59.0: base-up(pr2,x3,y5,y4)
STEP 59.1: park(pr2)
STEP 60: put-right(pr2,x3,y4,xrel0,x3,yrel0,y4,object2,x4)
STEP 61: finish-object(object2,x4,y4)
79 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 20.13 # [s]
  preprocessing: 13.10 # [s]
maxLearnedClauseLength: 145940
groundActions:
  afterParsing: 53906
  afterPreprocessing: 27414
stateVariables:
  afterParsing: 919
  afterPreprocessing: 414
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 65
  actions: 79
iterations:
...

