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-1.pddlignoring --stats
ignoring --stats-iter
ignoring --verbose
 -m 8192 -F 80 -T 80
Domain: tidybot
Problem: test
Parser: 38357 ground actions and 761 state variables
Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16  1.77 secs
Goal: conjunctive
Simplified: 14685 ground actions and 341 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.08 secs (max SCC size 10)
Plan type: E-step
				Allocated 32 MB permanent (total 261 MB)
Horizon 80: 1202421 variables
				Allocated 32 MB (total 447 MB)
				Allocated 32 MB (total 479 MB)
SAT (0 ID 15163 decisions 8857 conflicts 1202421 variables)
PLAN FOUND: 80 steps
STEP 0: 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-down(pr2,cart,x1,y1,y2,x0,y1,y2)
STEP 4.1: ungrasp-cart(pr2,cart)
STEP 5: base-right(pr2,x1,x2,y2)
STEP 6: base-down(pr2,x2,y2,y3)
STEP 7: base-down(pr2,x2,y3,y4)
STEP 8: base-left(pr2,x2,x1,y4)
STEP 9: base-left(pr2,x1,x0,y4)
STEP 10: base-right(pr2,x0,x1,y4)
STEP 11: base-right(pr2,x1,x2,y4)
STEP 12.0: base-up(pr2,x2,y4,y3)
STEP 12.1: park(pr2)
STEP 13.0: get-left(pr2,x2,y3,xrel0,x2,yrel0,y3,object3,x1)
STEP 13.1: unpark(pr2,xrel0,yrel0)
STEP 14: base-down(pr2,x2,y3,y4)
STEP 15: base-left(pr2,x2,x1,y4)
STEP 16: base-left(pr2,x1,x0,y4)
STEP 17: base-down(pr2,x0,y4,y5)
STEP 18: base-down(pr2,x0,y5,y6)
STEP 19: base-down(pr2,x0,y6,y7)
STEP 20: base-right(pr2,x0,x1,y7)
STEP 21: base-right(pr2,x1,x2,y7)
STEP 22: base-right(pr2,x2,x3,y7)
STEP 23: base-right(pr2,x3,x4,y7)
STEP 24: base-right(pr2,x4,x5,y7)
STEP 25: base-up(pr2,x5,y7,y6)
STEP 26.0: base-up(pr2,x5,y6,y5)
STEP 26.1: park(pr2)
STEP 27.0: put-left(pr2,x5,y5,xrel0,x5,yrel0,y5,object3,x4)
STEP 27.1: gripper-down(pr2,x5,y5,xrel0,x5,yrel0,yrel1,y5,y6)
STEP 28: get-up(pr2,x5,y5,xrel0,x5,yrel1,y6,object0,y5)
STEP 29: gripper-up(pr2,x5,y5,xrel0,x5,yrel1,yrel0,y6,y5)
STEP 30: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
STEP 31: put-left(pr2,x5,y5,xrel0,x5,yrel-1,y4,object0,x4)
STEP 32: finish-object(object0,x4,y4) gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
STEP 33: unpark(pr2,xrel0,yrel0)
STEP 34: base-down(pr2,x5,y5,y6)
STEP 35: base-down(pr2,x5,y6,y7)
STEP 36: base-right(pr2,x5,x6,y7)
STEP 37: base-right(pr2,x6,x7,y7)
STEP 38: base-up(pr2,x7,y7,y6)
STEP 39: base-up(pr2,x7,y6,y5)
STEP 40: base-up(pr2,x7,y5,y4)
STEP 41: base-up(pr2,x7,y4,y3)
STEP 42: base-up(pr2,x7,y3,y2)
STEP 43: base-left(pr2,x7,x6,y2)
STEP 44: base-left(pr2,x6,x5,y2)
STEP 45: base-left(pr2,x5,x4,y2)
STEP 46.0: base-left(pr2,x4,x3,y2)
STEP 46.1: park(pr2)
STEP 47: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
STEP 48: gripper-up(pr2,x3,y2,xrel1,x4,yrel0,yrel-1,y2,y1)
STEP 49.0: get-right(pr2,x3,y2,xrel1,x4,yrel-1,y1,object1,x5)
STEP 49.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel-1,yrel0,y1,y2)
STEP 50: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel0,y2)
STEP 51: gripper-left(pr2,x3,y2,xrel0,xrel-1,x3,x2,yrel0,y2)
STEP 52: gripper-down(pr2,x3,y2,xrel-1,x2,yrel0,yrel1,y2,y3)
STEP 53.0: put-left(pr2,x3,y2,xrel-1,x2,yrel1,y3,object1,x1)
STEP 53.1: gripper-up(pr2,x3,y2,xrel-1,x2,yrel1,yrel0,y3,y2)
STEP 54: finish-object(object1,x1,y3) gripper-right(pr2,x3,y2,xrel-1,xrel0,x2,x3,yrel0,y2)
STEP 55.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object2,y1)
STEP 55.1: unpark(pr2,xrel0,yrel0)
STEP 56: base-left(pr2,x3,x2,y2)
STEP 57: base-down(pr2,x2,y2,y3)
STEP 58.0: base-down(pr2,x2,y3,y4)
STEP 58.1: park(pr2)
STEP 59: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel0,y4)
STEP 60.0: put-down(pr2,x2,y4,xrel-1,x1,yrel0,y4,object2,y5)
STEP 60.1: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
STEP 61: finish-object(object2,x1,y5) unpark(pr2,xrel0,yrel0)
STEP 62: base-down(pr2,x2,y4,y5)
STEP 63: base-down(pr2,x2,y5,y6)
STEP 64: base-left(pr2,x2,x1,y6)
STEP 65: base-right(pr2,x1,x2,y6)
STEP 66: base-down(pr2,x2,y6,y7)
STEP 67: base-right(pr2,x2,x3,y7)
STEP 68: base-right(pr2,x3,x4,y7)
STEP 69: base-up(pr2,x4,y7,y6)
STEP 70: base-up(pr2,x4,y6,y5)
STEP 71.0: base-right(pr2,x4,x5,y5)
STEP 71.1: park(pr2)
STEP 72.0: get-left(pr2,x5,y5,xrel0,x5,yrel0,y5,object3,x4)
STEP 72.1: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
STEP 73: put-down(pr2,x5,y5,xrel0,x5,yrel-1,y4,object3,y5)
STEP 74: finish-object(object3,x5,y5)
91 actions in the plan.


# statistics in YAML format
---
runtime:
  total: 25.93 # [s]
  preprocessing: 4.30 # [s]
maxLearnedClauseLength: 92453
groundActions:
  afterParsing: 38357
  afterPreprocessing: 14685
stateVariables:
  afterParsing: 761
  afterPreprocessing: 341
stronglyConnectedComponents:
  maxSize: 10
plan:
  found: true
  length: 80
  actions: 91
iterations:
...

