INFO Running translator. INFO translator input: ['/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-7.pddl'] INFO translator arguments: [] INFO translator time limit: None INFO translator memory limit: None INFO callstring: /home/pluehne/.usr/bin/python /home/wv/bin/linux/64/fast-downward-10997/builds/release64/bin/translate/translate.py /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-7.pddl Parsing... Parsing: [0.080s CPU, 0.080s wall-clock] Normalizing task... [0.010s CPU, 0.006s wall-clock] Instantiating... Generating Datalog program... [0.010s CPU, 0.014s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.210s CPU, 0.210s wall-clock] Preparing model... [0.070s CPU, 0.068s wall-clock] Generated 400 rules. Computing model... [6.550s CPU, 6.554s wall-clock] 30399 relevant atoms 31995 auxiliary atoms 62394 final queue length 160559 total queue pushes Completing instantiation... [17.380s CPU, 17.373s wall-clock] Instantiating: [24.300s CPU, 24.293s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.610s CPU, 0.613s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.010s CPU, 0.001s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 371 uncovered facts Choosing groups: [0.000s CPU, 0.001s wall-clock] Building translation key... [0.020s CPU, 0.014s wall-clock] Computing fact groups: [0.660s CPU, 0.657s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.003s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.003s wall-clock] Building mutex information... Building mutex information: [0.000s CPU, 0.003s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Processing axioms: [1.090s CPU, 1.087s wall-clock] Translating task: [20.780s CPU, 20.760s wall-clock] 80827 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 2 propositions removed Detecting unreachable propositions: [10.270s CPU, 10.275s wall-clock] Reordering and filtering variables... 373 of 373 variables necessary. 1 of 3 mutex groups necessary. 29843 of 29843 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [6.770s CPU, 6.769s wall-clock] Translator variables: 373 Translator derived variables: 0 Translator facts: 749 Translator goal facts: 4 Translator mutex groups: 1 Translator total mutex groups size: 2 Translator operators: 29843 Translator axioms: 0 Translator task size: 360046 Translator peak memory: 228156 KB Writing output... [5.910s CPU, 6.289s wall-clock] Done! [69.420s CPU, 69.780s wall-clock] planner.py version 0.0.1 Time: 16.73s Memory: 1124MB Iteration 1 Queue: [(0,0,0,True), (1,5,0,True), (2,10,0,True), (3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 0 Solving... Solving Time: 0.08s Memory: 1124MB (+0MB) UNSAT Iteration Time: 0.08s Iteration 2 Queue: [(1,5,0,True), (2,10,0,True), (3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 0 Expected Memory: 1124MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 3.19s Memory: 1124MB (+0MB) Unblocking actions... Solving... Solving Time: 0.34s Memory: 1127MB (+3MB) UNSAT Iteration Time: 4.83s Iteration 3 Queue: [(2,10,0,True), (3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 5 Expected Memory: 1130.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 2.96s Memory: 1127MB (+0MB) Unblocking actions... Solving... Solving Time: 0.39s Memory: 1129MB (+2MB) UNSAT Iteration Time: 4.68s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1132.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.77s Memory: 1129MB (+0MB) Unblocking actions... Solving... Solving Time: 0.40s Memory: 1149MB (+20MB) SAT Testing... NOT SERIALIZABLE Testing Time: 18.58s Memory: 1833MB (+684MB) Solving... Solving Time: 0.28s Memory: 1149MB (+-684MB) UNSAT Iteration Time: 24.55s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1169.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 5.93s Memory: 1149MB (+0MB) Unblocking actions... Solving... Solving Time: 48.48s Memory: 1162MB (+13MB) UNKNOWN Iteration Time: 56.25s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 1182.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.05s Memory: 1259MB (+97MB) Unblocking actions... Solving... Solving Time: 84.80s Memory: 1364MB (+105MB) UNKNOWN Iteration Time: 92.40s Iteration 7 Queue: [(6,30,0,True)] Grounded Until: 25 Expected Memory: 1566.0MB Grounding... [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])] Grounding Time: 6.25s Memory: 1461MB (+97MB) Unblocking actions... Solving... Solving Time: 71.35s Memory: 1718MB (+257MB) UNKNOWN Iteration Time: 79.17s Iteration 8 Queue: [(4,20,1,True), (5,25,1,True), (6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True), (16,80,0,True), (17,85,0,True)] Grounded Until: 30 Blocking actions... Solving... Solving Time: 45.45s Memory: 1554MB (+-164MB) UNKNOWN Iteration Time: 45.51s Iteration 9 Queue: [(5,25,1,True), (6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True), (16,80,0,True), (17,85,0,True)] Grounded Until: 30 Unblocking actions... Solving... Solving Time: 79.57s Memory: 1554MB (+0MB) UNKNOWN Iteration Time: 79.63s Iteration 10 Queue: [(6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True), (16,80,0,True), (17,85,0,True)] Grounded Until: 30 Unblocking actions... Solving... Solving Time: 84.79s Memory: 2061MB (+507MB) UNKNOWN Iteration Time: 84.85s Iteration 11 Queue: [(7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True), (16,80,0,True), (17,85,0,True)] Grounded Until: 30 Expected Memory: 2415.0MB Grounding... [('step', [31]), ('step', [32]), ('step', [33]), ('step', [34]), ('step', [35]), ('check', [35])] Grounding Time: 7.55s Memory: 2262MB (+201MB) Unblocking actions... Solving... Solving Time: 81.48s Memory: 2175MB (+-87MB) UNKNOWN Iteration Time: 90.65s Iteration 12 Queue: [(8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True), (16,80,0,True), (17,85,0,True)] Grounded Until: 35 Expected Memory: 2529.0MB Grounding... [('step', [36]), ('step', [37]), ('step', [38]), ('step', [39]), ('step', [40]), ('check', [40])] Grounding Time: 5.97s Memory: 2175MB (+0MB) Unblocking actions... Solving... Solving Time: 24.71s Memory: 2179MB (+4MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2179MB (+0MB) Answer: 2 occurs(action(("unpark","pr2","xrel0","yrel0")),1) occurs(action(("base-right","pr2","x0","x1","y0")),2) occurs(action(("base-right","pr2","x1","x2","y0")),3) occurs(action(("base-right","pr2","x2","x3","y0")),4) occurs(action(("base-down","pr2","x3","y0","y1")),5) occurs(action(("base-right","pr2","x3","x4","y1")),6) occurs(action(("base-down","pr2","x4","y1","y2")),7) occurs(action(("base-down","pr2","x4","y2","y3")),8) occurs(action(("base-down","pr2","x4","y3","y4")),9) occurs(action(("park","pr2")),10) occurs(action(("get-right","pr2","x4","y4","xrel0","x4","yrel0","y4","object1","x5")),11) occurs(action(("gripper-up","pr2","x4","y4","xrel0","x4","yrel0","yrel-1","y4","y3")),12) occurs(action(("put-down","pr2","x4","y4","xrel0","x4","yrel-1","y3","object1","y4")),13) occurs(action(("finish-object","object1","x4","y4")),14) occurs(action(("get-down","pr2","x4","y4","xrel0","x4","yrel-1","y3","object3","y4")),14) occurs(action(("gripper-down","pr2","x4","y4","xrel0","x4","yrel-1","yrel0","y3","y4")),15) occurs(action(("put-right","pr2","x4","y4","xrel0","x4","yrel0","y4","object3","x5")),16) occurs(action(("finish-object","object3","x5","y4")),17) occurs(action(("gripper-up","pr2","x4","y4","xrel0","x4","yrel0","yrel-1","y4","y3")),17) occurs(action(("get-right","pr2","x4","y4","xrel0","x4","yrel-1","y3","object0","x5")),18) occurs(action(("gripper-down","pr2","x4","y4","xrel0","x4","yrel-1","yrel0","y3","y4")),19) occurs(action(("put-up","pr2","x4","y4","xrel0","x4","yrel0","y4","object0","y3")),20) occurs(action(("finish-object","object0","x4","y3")),21) occurs(action(("unpark","pr2","xrel0","yrel0")),21) occurs(action(("base-up","pr2","x4","y4","y3")),22) occurs(action(("base-up","pr2","x4","y3","y2")),23) occurs(action(("base-up","pr2","x4","y2","y1")),24) occurs(action(("base-left","pr2","x4","x3","y1")),25) occurs(action(("base-left","pr2","x3","x2","y1")),26) occurs(action(("base-down","pr2","x2","y1","y2")),27) occurs(action(("base-down","pr2","x2","y2","y3")),28) occurs(action(("base-down","pr2","x2","y3","y4")),29) occurs(action(("base-left","pr2","x2","x1","y4")),30) occurs(action(("park","pr2")),31) occurs(action(("gripper-down","pr2","x1","y4","xrel0","x1","yrel0","yrel1","y4","y5")),32) occurs(action(("get-down","pr2","x1","y4","xrel0","x1","yrel1","y5","object2","y6")),33) occurs(action(("gripper-right","pr2","x1","y4","xrel0","xrel1","x1","x2","yrel1","y5")),34) occurs(action(("put-left","pr2","x1","y4","xrel1","x2","yrel1","y5","object2","x1")),35) occurs(action(("finish-object","object2","x1","y5")),36) occurs(action(("gripper-up","pr2","x1","y4","xrel1","x2","yrel1","yrel0","y5","y4")),36) occurs(action(("gripper-left","pr2","x1","y4","xrel1","xrel0","x2","x1","yrel0","y4")),37) occurs(action(("unpark","pr2","xrel0","yrel0")),38) occurs(action(("base-up","pr2","x1","y4","y3")),39) occurs(action(("base-up","pr2","x1","y3","y2")),40) SATISFIABLE Models : 1+ Calls : 13 Time : 598.532s (Solving: 519.29s 1st Model: 24.45s Unsat: 0.03s) CPU Time : 597.704s Choices : 238493 (Domain: 179942) Conflicts : 70428 (Analyzed: 70426) Restarts : 733 (Average: 96.08 Last: 162) Model-Level : 388.0 Problems : 13 (Average Length: 23.92 Splits: 0) Lemmas : 70426 (Deleted: 66554) Binary : 152 (Ratio: 0.22%) Ternary : 76 (Ratio: 0.11%) Conflict : 70426 (Average Length: 12306.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 70426 (Average: 3.02 Max: 460 Sum: 212558) Executed : 70378 (Average: 3.00 Max: 460 Sum: 211556 Ratio: 99.53%) Bounded : 48 (Average: 20.88 Max: 32 Sum: 1002 Ratio: 0.47%) Rules : 1291347 (Original: 1290653) Atoms : 1054282 Bodies : 159831 (Original: 159287) Count : 1793 (Original: 1905) Equivalences : 50206 (Atom=Atom: 201 Body=Body: 0 Other: 50005) Tight : Yes Variables : 695383 (Eliminated: 0 Frozen: 464993) Constraints : 10495229 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2282MB Max. Length : 40 steps Sol. Length : 40 steps Models : 2