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-10.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192 -F 60 -T 60
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  4.85 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 4.47 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 347 MB)
Horizon 60: 1317899 variables
				Allocated 32 MB (total 543 MB)
				Allocated 32 MB (total 575 MB)
SAT (0 ID 2335 decisions 1467 conflicts 1317899 variables)
PLAN FOUND: 60 steps
STEP 0: unpark(pr2,xrel0,yrel0)
STEP 1: base-right(pr2,x0,x1,y0)
STEP 2.0: base-right(pr2,x1,x2,y0)
STEP 2.1: park(pr2)
STEP 3: unpark(pr2,xrel0,yrel0)
STEP 4: base-down(pr2,x2,y0,y1)
STEP 5: base-down(pr2,x2,y1,y2)
STEP 6.0: base-down(pr2,x2,y2,y3)
STEP 6.1: park(pr2)
STEP 7: gripper-right(pr2,x2,y3,xrel0,xrel1,x2,x3,yrel0,y3)
STEP 8: gripper-left(pr2,x2,y3,xrel1,xrel0,x3,x2,yrel0,y3)
STEP 9: unpark(pr2,xrel0,yrel0)
STEP 10: base-right(pr2,x2,x3,y3)
STEP 11: base-right(pr2,x3,x4,y3)
STEP 12: base-right(pr2,x4,x5,y3)
STEP 13: base-right(pr2,x5,x6,y3)
STEP 14: base-down(pr2,x6,y3,y4)
STEP 15.0: base-down(pr2,x6,y4,y5)
STEP 15.1: park(pr2)
STEP 16: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6)
STEP 17: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5)
STEP 18: unpark(pr2,xrel0,yrel0)
STEP 19: base-down(pr2,x6,y5,y6)
STEP 20.0: base-left(pr2,x6,x5,y6)
STEP 20.1: park(pr2)
STEP 21: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
STEP 22.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3)
STEP 22.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5)
STEP 23.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3)
STEP 23.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6)
STEP 24: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
STEP 25: unpark(pr2,xrel0,yrel0)
STEP 26: base-left(pr2,x5,x4,y6)
STEP 27.0: base-right(pr2,x4,x5,y6)
STEP 27.1: park(pr2)
STEP 28: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6)
STEP 29.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7)
STEP 29.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6)
STEP 30: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
STEP 31.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3)
STEP 31.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
STEP 32: finish-object(object1,x3,y6) gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
STEP 33: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
STEP 34: unpark(pr2,xrel0,yrel0)
STEP 35: base-up(pr2,x5,y6,y5)
STEP 36: base-right(pr2,x5,x6,y5)
STEP 37.0: base-up(pr2,x6,y5,y4)
STEP 37.1: park(pr2)
STEP 38: gripper-up(pr2,x6,y4,xrel0,x6,yrel0,yrel-1,y4,y3)
STEP 39: gripper-down(pr2,x6,y4,xrel0,x6,yrel-1,yrel0,y3,y4)
STEP 40: unpark(pr2,xrel0,yrel0)
STEP 41: base-up(pr2,x6,y4,y3)
STEP 42: base-left(pr2,x6,x5,y3)
STEP 43.0: base-left(pr2,x5,x4,y3)
STEP 43.1: park(pr2)
STEP 44.0: get-up(pr2,x4,y3,xrel0,x4,yrel0,y3,object2,y2)
STEP 44.1: unpark(pr2,xrel0,yrel0)
STEP 45: base-right(pr2,x4,x5,y3)
STEP 46.0: base-right(pr2,x5,x6,y3)
STEP 46.1: park(pr2)
STEP 47.0: put-right(pr2,x6,y3,xrel0,x6,yrel0,y3,object2,x7)
STEP 47.1: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
STEP 48: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2)
STEP 49: get-up(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object3,y1)
STEP 50.0: put-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object3,x4)
STEP 50.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2)
STEP 51: finish-object(object3,x4,y2) gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3)
STEP 52.0: get-right(pr2,x6,y3,xrel0,x6,yrel0,y3,object2,x7)
STEP 52.1: unpark(pr2,xrel0,yrel0)
STEP 53: base-down(pr2,x6,y3,y4)
STEP 54.0: base-down(pr2,x6,y4,y5)
STEP 54.1: park(pr2)
STEP 55: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
STEP 56: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4)
STEP 57: finish-object(object2,x4,y5)
78 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 17.07 # [s]
  preprocessing: 10.07 # [s]
maxLearnedClauseLength: 192464
groundActions:
  afterParsing: 54878
  afterPreprocessing: 21539
stateVariables:
  afterParsing: 926
  afterPreprocessing: 419
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 60
  actions: 78
iterations:
...

