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-8.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-8.pddl Parsing... Parsing: [0.070s CPU, 0.078s wall-clock] Normalizing task... [0.010s CPU, 0.006s wall-clock] Instantiating... Generating Datalog program... [0.020s CPU, 0.014s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.200s CPU, 0.208s wall-clock] Preparing model... [0.070s CPU, 0.066s wall-clock] Generated 400 rules. Computing model... [6.560s CPU, 6.561s wall-clock] 30443 relevant atoms 31994 auxiliary atoms 62437 final queue length 160694 total queue pushes Completing instantiation... [17.500s CPU, 17.493s wall-clock] Instantiating: [24.420s CPU, 24.414s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.620s CPU, 0.615s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.000s 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... [0.010s CPU, 0.014s wall-clock] Computing fact groups: [0.660s CPU, 0.658s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.003s wall-clock] Building dictionary for full mutex groups... [0.010s 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, 1.093s wall-clock] Translating task: [20.870s CPU, 20.854s wall-clock] 80875 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 2 propositions removed Detecting unreachable propositions: [10.290s CPU, 10.286s wall-clock] Reordering and filtering variables... 373 of 373 variables necessary. 1 of 3 mutex groups necessary. 29889 of 29889 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [6.780s CPU, 6.775s 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: 29889 Translator axioms: 0 Translator task size: 360494 Translator peak memory: 228668 KB Writing output... [5.940s CPU, 6.333s wall-clock] Done! [69.710s CPU, 70.063s wall-clock] planner.py version 0.0.1 Time: 16.93s Memory: 1126MB Iteration 1 Queue: [(0,25,0,True)] Grounded Until: 0 Expected Memory: 1126MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 17.15s Memory: 1798MB (+672MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 1 Time : 45.874s (Solving: 0.12s 1st Model: 0.09s Unsat: 0.00s) CPU Time : 42.932s Choices : 1445 (Domain: 1146) Conflicts : 48 (Analyzed: 48) Restarts : 0 Model-Level : 745.0 Problems : 1 (Average Length: 27.00 Splits: 0) Lemmas : 48 (Deleted: 0) Binary : 2 (Ratio: 4.17%) Ternary : 4 (Ratio: 8.33%) Conflict : 48 (Average Length: 104.2 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 48 (Average: 15.15 Max: 224 Sum: 727) Executed : 48 (Average: 15.15 Max: 224 Sum: 727 Ratio: 100.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Rules : 0 Atoms : 0 Bodies : 0 Tight : Yes Variables : 445070 (Eliminated: 0 Frozen: 0) Constraints : 4232095 (Binary: 99.5% Ternary: 0.3% Other: 0.3%) Memory Peak : 2117MB Max. Length : 0 steps Models : 1 [endof: stats after solve call] Solving Time: 1.51s Memory: 2053MB (+255MB) SAT Testing... NOT SERIALIZABLE Testing Time: 23.36s Memory: 2226MB (+173MB) Solving... [start: stats after solve call] Models : 1+ Calls : 2 Time : 58.165s (Solving: 3.35s 1st Model: 3.29s Unsat: 0.00s) CPU Time : 55.228s Choices : 6608 (Domain: 4210) Conflicts : 1015 (Analyzed: 1015) Restarts : 5 (Average: 203.00 Last: 233) Model-Level : 529.5 Problems : 2 (Average Length: 27.00 Splits: 0) Lemmas : 1015 (Deleted: 0) Binary : 46 (Ratio: 4.53%) Ternary : 21 (Ratio: 2.07%) Conflict : 1015 (Average Length: 11683.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 1015 (Average: 5.50 Max: 224 Sum: 5585) Executed : 1004 (Average: 5.21 Max: 224 Sum: 5288 Ratio: 94.68%) Bounded : 11 (Average: 27.00 Max: 27 Sum: 297 Ratio: 5.32%) Rules : 1243921 (Original: 1243277) Atoms : 69402 Bodies : 712380 (Original: 711792) Count : 5465 (Original: 5561) Equivalences : 239484 (Atom=Atom: 151 Body=Body: 0 Other: 239333) Tight : Yes Variables : 456924 (Eliminated: 0 Frozen: 238899) Constraints : 5428206 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2330MB Max. Length : 0 steps Models : 2 [endof: stats after solve call] Solving Time: 4.15s Memory: 2238MB (+12MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2238MB (+0MB) Answer: 2 occurs(action(("finish-object","object3","x5","y3")),1) 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-down","pr2","x2","y0","y1")),4) occurs(action(("base-down","pr2","x2","y1","y2")),5) occurs(action(("base-right","pr2","x2","x3","y2")),6) occurs(action(("park","pr2")),7) occurs(action(("get-right","pr2","x3","y2","xrel0","x3","yrel0","y2","object2","x4")),8) occurs(action(("gripper-right","pr2","x3","y2","xrel0","xrel1","x3","x4","yrel0","y2")),9) occurs(action(("put-right","pr2","x3","y2","xrel1","x4","yrel0","y2","object2","x5")),10) occurs(action(("finish-object","object2","x5","y2")),11) occurs(action(("get-down","pr2","x3","y2","xrel1","x4","yrel0","y2","object0","y3")),11) occurs(action(("gripper-left","pr2","x3","y2","xrel1","xrel0","x4","x3","yrel0","y2")),12) occurs(action(("put-right","pr2","x3","y2","xrel0","x3","yrel0","y2","object0","x4")),13) occurs(action(("finish-object","object0","x4","y2")),14) occurs(action(("unpark","pr2","xrel0","yrel0")),14) occurs(action(("base-left","pr2","x3","x2","y2")),15) occurs(action(("base-down","pr2","x2","y2","y3")),16) occurs(action(("park","pr2")),17) occurs(action(("gripper-down","pr2","x2","y3","xrel0","x2","yrel0","yrel1","y3","y4")),18) occurs(action(("get-left","pr2","x2","y3","xrel0","x2","yrel1","y4","object1","x1")),19) occurs(action(("gripper-up","pr2","x2","y3","xrel0","x2","yrel1","yrel0","y4","y3")),20) occurs(action(("gripper-right","pr2","x2","y3","xrel0","xrel1","x2","x3","yrel0","y3")),21) occurs(action(("put-right","pr2","x2","y3","xrel1","x3","yrel0","y3","object1","x4")),22) occurs(action(("finish-object","object1","x4","y3")),23) occurs(action(("gripper-left","pr2","x2","y3","xrel1","xrel0","x3","x2","yrel0","y3")),23) occurs(action(("unpark","pr2","xrel0","yrel0")),24) occurs(action(("base-right","pr2","x2","x3","y3")),25) SATISFIABLE Models : 1+ Calls : 2 Time : 58.165s (Solving: 3.35s 1st Model: 3.29s Unsat: 0.00s) CPU Time : 55.228s Choices : 6608 (Domain: 4210) Conflicts : 1015 (Analyzed: 1015) Restarts : 5 (Average: 203.00 Last: 233) Model-Level : 529.5 Problems : 2 (Average Length: 27.00 Splits: 0) Lemmas : 1015 (Deleted: 0) Binary : 46 (Ratio: 4.53%) Ternary : 21 (Ratio: 2.07%) Conflict : 1015 (Average Length: 11683.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 1015 (Average: 5.50 Max: 224 Sum: 5585) Executed : 1004 (Average: 5.21 Max: 224 Sum: 5288 Ratio: 94.68%) Bounded : 11 (Average: 27.00 Max: 27 Sum: 297 Ratio: 5.32%) Rules : 1243921 (Original: 1243277) Atoms : 69402 Bodies : 712380 (Original: 711792) Count : 5465 (Original: 5561) Equivalences : 239484 (Atom=Atom: 151 Body=Body: 0 Other: 239333) Tight : Yes Variables : 456924 (Eliminated: 0 Frozen: 238899) Constraints : 5428206 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2330MB Max. Length : 25 steps Sol. Length : 25 steps Models : 2