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-9.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-9.pddl Parsing... Parsing: [0.100s CPU, 0.101s wall-clock] Normalizing task... [0.010s CPU, 0.008s wall-clock] Instantiating... Generating Datalog program... [0.010s CPU, 0.017s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.220s CPU, 0.218s wall-clock] Preparing model... [0.070s CPU, 0.067s wall-clock] Generated 400 rules. Computing model... [9.270s CPU, 9.272s wall-clock] 45765 relevant atoms 39820 auxiliary atoms 85585 final queue length 236866 total queue pushes Completing instantiation... [27.410s CPU, 27.401s wall-clock] Instantiating: [37.080s CPU, 37.072s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.840s CPU, 0.843s 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... 471 uncovered facts Choosing groups: [0.010s CPU, 0.003s wall-clock] Building translation key... [0.020s CPU, 0.017s wall-clock] Computing fact groups: [0.900s CPU, 0.903s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.004s wall-clock] Building dictionary for full mutex groups... [0.010s CPU, 0.004s wall-clock] Building mutex information... Building mutex information: [0.000s CPU, 0.004s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Processing axioms: [1.670s CPU, 1.669s wall-clock] Translating task: [32.200s CPU, 32.179s wall-clock] 125021 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 2 propositions removed Detecting unreachable propositions: [14.580s CPU, 14.579s wall-clock] Reordering and filtering variables... 473 of 473 variables necessary. 1 of 3 mutex groups necessary. 45090 of 45090 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [10.710s CPU, 10.704s wall-clock] Translator variables: 473 Translator derived variables: 0 Translator facts: 949 Translator goal facts: 4 Translator mutex groups: 1 Translator total mutex groups size: 2 Translator operators: 45090 Translator axioms: 0 Translator task size: 549948 Translator peak memory: 329588 KB Writing output... [9.140s CPU, 9.718s wall-clock] Done! [105.710s CPU, 106.259s wall-clock] planner.py version 0.0.1 Time: 27.05s Memory: 1696MB Iteration 1 Queue: [(0,60,0,True)] Grounded Until: 0 Expected Memory: 1696MB 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]), ('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('step', [31]), ('step', [32]), ('step', [33]), ('step', [34]), ('step', [35]), ('step', [36]), ('step', [37]), ('step', [38]), ('step', [39]), ('step', [40]), ('step', [41]), ('step', [42]), ('step', [43]), ('step', [44]), ('step', [45]), ('step', [46]), ('step', [47]), ('step', [48]), ('step', [49]), ('step', [50]), ('step', [51]), ('step', [52]), ('step', [53]), ('step', [54]), ('step', [55]), ('step', [56]), ('step', [57]), ('step', [58]), ('step', [59]), ('step', [60]), ('check', [60])] Grounding Time: 57.25s Memory: 4956MB (+3260MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 1 Time : 120.719s (Solving: 0.61s 1st Model: 0.51s Unsat: 0.00s) CPU Time : 116.212s Choices : 8916 (Domain: 8169) Conflicts : 71 (Analyzed: 71) Restarts : 0 Model-Level : 2941.0 Problems : 1 (Average Length: 62.00 Splits: 0) Lemmas : 71 (Deleted: 0) Binary : 3 (Ratio: 4.23%) Ternary : 3 (Ratio: 4.23%) Conflict : 71 (Average Length: 443.9 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 71 (Average: 85.03 Max: 1258 Sum: 6037) Executed : 71 (Average: 85.03 Max: 1258 Sum: 6037 Ratio: 100.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Rules : 0 Atoms : 0 Bodies : 0 Tight : Yes Variables : 1457796 (Eliminated: 0 Frozen: 0) Constraints : 19769659 (Binary: 99.6% Ternary: 0.2% Other: 0.2%) Memory Peak : 5792MB Max. Length : 0 steps Models : 1 [endof: stats after solve call] Solving Time: 3.71s Memory: 5728MB (+772MB) SAT Testing... NOT SERIALIZABLE Testing Time: 53.57s Memory: 5797MB (+69MB) Solving... [start: stats after solve call] Models : 1+ Calls : 2 Time : 210.004s (Solving: 56.93s 1st Model: 56.69s Unsat: 0.00s) CPU Time : 205.532s Choices : 60624 (Domain: 48419) Conflicts : 5862 (Analyzed: 5862) Restarts : 30 (Average: 195.40 Last: 431) Model-Level : 1861.5 Problems : 2 (Average Length: 62.00 Splits: 0) Lemmas : 5862 (Deleted: 2401) Binary : 144 (Ratio: 2.46%) Ternary : 122 (Ratio: 2.08%) Conflict : 5862 (Average Length: 3426.4 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 5862 (Average: 9.72 Max: 1258 Sum: 57006) Executed : 5816 (Average: 9.24 Max: 1258 Sum: 54181 Ratio: 95.04%) Bounded : 46 (Average: 61.41 Max: 62 Sum: 2825 Ratio: 4.96%) Rules : 5542377 (Original: 5541664) Atoms : 121418 Bodies : 3173969 (Original: 3173332) Count : 20697 (Original: 20803) Equivalences : 1096035 (Atom=Atom: 264 Body=Body: 0 Other: 1095771) Tight : Yes Variables : 1500513 (Eliminated: 0 Frozen: 1094716) Constraints : 25260048 (Binary: 99.5% Ternary: 0.2% Other: 0.3%) Memory Peak : 6015MB Max. Length : 0 steps Models : 2 [endof: stats after solve call] Solving Time: 60.30s Memory: 5935MB (+138MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 5935MB (+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-right","pr2","x2","x3","y0")),4) occurs(action(("base-right","pr2","x3","x4","y0")),5) occurs(action(("park","pr2")),6) occurs(action(("gripper-right","pr2","x4","y0","xrel0","xrel1","x4","x5","yrel0","y0")),7) occurs(action(("gripper-down","pr2","x4","y0","xrel1","x5","yrel0","yrel1","y0","y1")),8) occurs(action(("get-down","pr2","x4","y0","xrel1","x5","yrel1","y1","object0","y2")),9) occurs(action(("gripper-left","pr2","x4","y0","xrel1","xrel0","x5","x4","yrel1","y1")),10) occurs(action(("put-down","pr2","x4","y0","xrel0","x4","yrel1","y1","object0","y2")),11) occurs(action(("finish-object","object0","x4","y2")),12) occurs(action(("gripper-up","pr2","x4","y0","xrel0","x4","yrel1","yrel0","y1","y0")),12) occurs(action(("unpark","pr2","xrel0","yrel0")),13) occurs(action(("base-down","pr2","x4","y0","y1")),14) occurs(action(("base-down","pr2","x4","y1","y2")),15) occurs(action(("park","pr2")),16) occurs(action(("get-down","pr2","x4","y2","xrel0","x4","yrel0","y2","object2","y3")),17) occurs(action(("put-right","pr2","x4","y2","xrel0","x4","yrel0","y2","object2","x5")),18) occurs(action(("finish-object","object2","x5","y2")),19) occurs(action(("unpark","pr2","xrel0","yrel0")),19) occurs(action(("base-right","pr2","x4","x5","y2")),20) occurs(action(("base-up","pr2","x5","y2","y1")),21) occurs(action(("base-up","pr2","x5","y1","y0")),22) occurs(action(("base-right","pr2","x5","x6","y0")),23) occurs(action(("base-right","pr2","x6","x7","y0")),24) occurs(action(("base-down","pr2","x7","y0","y1")),25) occurs(action(("base-down","pr2","x7","y1","y2")),26) occurs(action(("base-down","pr2","x7","y2","y3")),27) occurs(action(("base-down","pr2","x7","y3","y4")),28) occurs(action(("base-down","pr2","x7","y4","y5")),29) occurs(action(("base-left","pr2","x7","x6","y5")),30) occurs(action(("base-down","pr2","x6","y5","y6")),31) occurs(action(("park","pr2")),32) occurs(action(("gripper-down","pr2","x6","y6","xrel0","x6","yrel0","yrel1","y6","y7")),33) occurs(action(("get-left","pr2","x6","y6","xrel0","x6","yrel1","y7","object1","x5")),34) occurs(action(("put-right","pr2","x6","y6","xrel0","x6","yrel1","y7","object1","x7")),35) occurs(action(("finish-object","object1","x7","y7")),36) occurs(action(("gripper-up","pr2","x6","y6","xrel0","x6","yrel1","yrel0","y7","y6")),36) occurs(action(("unpark","pr2","xrel0","yrel0")),37) occurs(action(("base-down","pr2","x6","y6","y7")),38) occurs(action(("base-up","pr2","x6","y7","y6")),39) occurs(action(("base-down","pr2","x6","y6","y7")),40) occurs(action(("base-up","pr2","x6","y7","y6")),41) occurs(action(("base-down","pr2","x6","y6","y7")),42) occurs(action(("base-up","pr2","x6","y7","y6")),43) occurs(action(("base-down","pr2","x6","y6","y7")),44) occurs(action(("base-up","pr2","x6","y7","y6")),45) occurs(action(("base-down","pr2","x6","y6","y7")),46) occurs(action(("base-up","pr2","x6","y7","y6")),47) occurs(action(("base-down","pr2","x6","y6","y7")),48) occurs(action(("base-up","pr2","x6","y7","y6")),49) occurs(action(("base-down","pr2","x6","y6","y7")),50) occurs(action(("base-up","pr2","x6","y7","y6")),51) occurs(action(("base-down","pr2","x6","y6","y7")),52) occurs(action(("base-up","pr2","x6","y7","y6")),53) occurs(action(("base-down","pr2","x6","y6","y7")),54) occurs(action(("base-up","pr2","x6","y7","y6")),55) occurs(action(("base-down","pr2","x6","y6","y7")),56) occurs(action(("base-up","pr2","x6","y7","y6")),57) occurs(action(("base-down","pr2","x6","y6","y7")),58) occurs(action(("base-up","pr2","x6","y7","y6")),59) occurs(action(("park","pr2")),60) SATISFIABLE Models : 1+ Calls : 2 Time : 210.004s (Solving: 56.93s 1st Model: 56.69s Unsat: 0.00s) CPU Time : 205.532s Choices : 60624 (Domain: 48419) Conflicts : 5862 (Analyzed: 5862) Restarts : 30 (Average: 195.40 Last: 431) Model-Level : 1861.5 Problems : 2 (Average Length: 62.00 Splits: 0) Lemmas : 5862 (Deleted: 2401) Binary : 144 (Ratio: 2.46%) Ternary : 122 (Ratio: 2.08%) Conflict : 5862 (Average Length: 3426.4 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 5862 (Average: 9.72 Max: 1258 Sum: 57006) Executed : 5816 (Average: 9.24 Max: 1258 Sum: 54181 Ratio: 95.04%) Bounded : 46 (Average: 61.41 Max: 62 Sum: 2825 Ratio: 4.96%) Rules : 5542377 (Original: 5541664) Atoms : 121418 Bodies : 3173969 (Original: 3173332) Count : 20697 (Original: 20803) Equivalences : 1096035 (Atom=Atom: 264 Body=Body: 0 Other: 1095771) Tight : Yes Variables : 1500513 (Eliminated: 0 Frozen: 1094716) Constraints : 25260048 (Binary: 99.5% Ternary: 0.2% Other: 0.3%) Memory Peak : 6015MB Max. Length : 60 steps Sol. Length : 60 steps Models : 2