INFO Running translator. INFO translator input: ['/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-30.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-2006/domains/rovers-propositional/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-30.pddl Parsing... Parsing: [0.120s CPU, 0.124s wall-clock] Normalizing task... [0.000s CPU, 0.004s wall-clock] Instantiating... Generating Datalog program... [0.040s CPU, 0.033s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.030s CPU, 0.039s wall-clock] Preparing model... [0.160s CPU, 0.157s wall-clock] Generated 90 rules. Computing model... [13.320s CPU, 13.315s wall-clock] 13637 relevant atoms 172093 auxiliary atoms 185730 final queue length 204576 total queue pushes Completing instantiation... [4.130s CPU, 4.130s wall-clock] Instantiating: [17.890s CPU, 17.883s wall-clock] Computing fact groups... Finding invariants... 35 initial candidates Finding invariants: [0.090s CPU, 0.087s wall-clock] Checking invariant weight... [0.010s CPU, 0.013s wall-clock] Instantiating groups... [0.080s CPU, 0.073s wall-clock] Collecting mutex groups... [0.010s CPU, 0.006s wall-clock] Choosing groups... 273 uncovered facts Choosing groups: [0.020s CPU, 0.023s wall-clock] Building translation key... [0.020s CPU, 0.020s wall-clock] Computing fact groups: [0.300s CPU, 0.291s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.007s wall-clock] Building dictionary for full mutex groups... [0.010s CPU, 0.007s wall-clock] Building mutex information... Building mutex information: [0.010s CPU, 0.008s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Processing axioms: [0.150s CPU, 0.150s wall-clock] Translating task: [2.990s CPU, 2.988s wall-clock] 4316 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 90 propositions removed Detecting unreachable propositions: [1.560s CPU, 1.558s wall-clock] Reordering and filtering variables... 149 of 330 variables necessary. 0 of 68 mutex groups necessary. 7458 of 10500 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [0.360s CPU, 0.361s wall-clock] Translator variables: 149 Translator derived variables: 0 Translator facts: 1060 Translator goal facts: 25 Translator mutex groups: 0 Translator total mutex groups size: 0 Translator operators: 7458 Translator axioms: 0 Translator task size: 32238 Translator peak memory: 103028 KB Writing output... [0.650s CPU, 0.735s wall-clock] Done! [23.990s CPU, 24.068s wall-clock] planner.py version 0.0.1 Time: 1.32s Memory: 140MB 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: 0.00s Memory: 141MB (+1MB) UNSAT Iteration Time: 0.01s 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: 141MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 0.32s Memory: 141MB (+0MB) Unblocking actions... Solving... Solving Time: 1.29s Memory: 143MB (+2MB) UNKNOWN Iteration Time: 1.80s 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: 145.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 0.32s Memory: 143MB (+0MB) Unblocking actions... Solving... Solving Time: 0.18s Memory: 158MB (+15MB) SAT Testing... NOT SERIALIZABLE Testing Time: 1.29s Memory: 219MB (+61MB) Solving... Solving Time: 4.29s Memory: 217MB (+-2MB) UNKNOWN Iteration Time: 6.27s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 232.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 0.54s Memory: 217MB (+0MB) Unblocking actions... Solving... Solving Time: 4.72s Memory: 228MB (+11MB) UNKNOWN Iteration Time: 5.49s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 243.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 0.47s Memory: 228MB (+0MB) Unblocking actions... Solving... Solving Time: 4.89s Memory: 247MB (+19MB) UNKNOWN Iteration Time: 5.61s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 266.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 0.49s Memory: 250MB (+3MB) Unblocking actions... Solving... Solving Time: 5.01s Memory: 274MB (+24MB) UNKNOWN Iteration Time: 5.78s Iteration 7 Queue: [(6,30,0,True)] Grounded Until: 25 Expected Memory: 301.0MB Grounding... [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])] Grounding Time: 0.51s Memory: 286MB (+12MB) Unblocking actions... Solving... Solving Time: 4.80s Memory: 301MB (+15MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 301MB (+0MB) Answer: 2 occurs(action(("navigate","rover3","waypoint47","waypoint25")),1) occurs(action(("navigate","rover8","waypoint13","waypoint39")),1) occurs(action(("navigate","rover1","waypoint46","waypoint48")),1) occurs(action(("navigate","rover0","waypoint0","waypoint33")),1) occurs(action(("navigate","rover2","waypoint11","waypoint43")),1) occurs(action(("calibrate","rover4","camera8","objective1","waypoint26")),1) occurs(action(("navigate","rover5","waypoint37","waypoint13")),1) occurs(action(("calibrate","rover6","camera3","objective6","waypoint14")),1) occurs(action(("navigate","rover7","waypoint34","waypoint23")),1) occurs(action(("navigate","rover9","waypoint17","waypoint35")),1) occurs(action(("sample_rock","rover5","rover5store","waypoint13")),2) occurs(action(("sample_rock","rover2","rover2store","waypoint43")),2) occurs(action(("sample_rock","rover1","rover1store","waypoint48")),2) occurs(action(("sample_soil","rover8","rover8store","waypoint39")),2) occurs(action(("take_image","rover4","waypoint26","objective1","camera8","colour")),2) occurs(action(("navigate","rover0","waypoint33","waypoint2")),2) occurs(action(("navigate","rover6","waypoint14","waypoint25")),2) occurs(action(("calibrate","rover5","camera4","objective1","waypoint13")),2) occurs(action(("navigate","rover3","waypoint25","waypoint15")),2) occurs(action(("navigate","rover7","waypoint23","waypoint49")),2) occurs(action(("calibrate","rover8","camera11","objective7","waypoint39")),2) occurs(action(("navigate","rover9","waypoint35","waypoint1")),2) occurs(action(("communicate_soil_data","rover8","general","waypoint39","waypoint39","waypoint36")),3) occurs(action(("sample_rock","rover9","rover9store","waypoint1")),3) occurs(action(("sample_rock","rover3","rover3store","waypoint15")),3) occurs(action(("sample_rock","rover0","rover0store","waypoint2")),3) occurs(action(("sample_soil","rover7","rover7store","waypoint49")),3) occurs(action(("take_image","rover6","waypoint25","objective7","camera3","colour")),3) occurs(action(("navigate","rover2","waypoint43","waypoint37")),3) occurs(action(("navigate","rover4","waypoint26","waypoint39")),3) occurs(action(("take_image","rover8","waypoint39","objective1","camera11","low_res")),3) occurs(action(("calibrate","rover0","camera0","objective3","waypoint2")),3) occurs(action(("calibrate","rover3","camera1","objective7","waypoint15")),3) occurs(action(("navigate","rover5","waypoint13","waypoint37")),3) occurs(action(("navigate","rover1","waypoint48","waypoint46")),3) occurs(action(("drop","rover8","rover8store")),3) occurs(action(("drop","rover5","rover5store")),3) occurs(action(("drop","rover2","rover2store")),3) occurs(action(("drop","rover1","rover1store")),3) occurs(action(("communicate_rock_data","rover5","general","waypoint13","waypoint37","waypoint36")),4) occurs(action(("communicate_rock_data","rover0","general","waypoint2","waypoint2","waypoint36")),4) occurs(action(("communicate_rock_data","rover2","general","waypoint43","waypoint37","waypoint36")),4) occurs(action(("communicate_image_data","rover4","general","objective1","colour","waypoint39","waypoint36")),4) occurs(action(("communicate_image_data","rover6","general","objective7","colour","waypoint25","waypoint36")),4) occurs(action(("communicate_image_data","rover8","general","objective1","low_res","waypoint39","waypoint36")),4) occurs(action(("take_image","rover0","waypoint2","objective5","camera0","high_res")),4) occurs(action(("navigate","rover3","waypoint15","waypoint25")),4) occurs(action(("navigate","rover1","waypoint46","waypoint37")),4) occurs(action(("navigate","rover7","waypoint49","waypoint20")),4) occurs(action(("navigate","rover9","waypoint1","waypoint35")),4) occurs(action(("drop","rover7","rover7store")),4) occurs(action(("drop","rover9","rover9store")),4) occurs(action(("drop","rover3","rover3store")),4) occurs(action(("communicate_rock_data","rover3","general","waypoint15","waypoint25","waypoint36")),5) occurs(action(("communicate_rock_data","rover1","general","waypoint48","waypoint37","waypoint36")),5) occurs(action(("communicate_soil_data","rover7","general","waypoint49","waypoint20","waypoint36")),5) occurs(action(("communicate_image_data","rover0","general","objective5","high_res","waypoint2","waypoint36")),5) occurs(action(("take_image","rover3","waypoint25","objective1","camera1","high_res")),5) occurs(action(("navigate","rover9","waypoint35","waypoint25")),5) occurs(action(("calibrate","rover0","camera0","objective3","waypoint2")),5) occurs(action(("navigate","rover2","waypoint37","waypoint43")),5) occurs(action(("navigate","rover5","waypoint37","waypoint36")),5) occurs(action(("navigate","rover8","waypoint39","waypoint13")),5) occurs(action(("navigate","rover6","waypoint25","waypoint14")),5) occurs(action(("navigate","rover4","waypoint39","waypoint26")),5) occurs(action(("communicate_rock_data","rover9","general","waypoint1","waypoint25","waypoint36")),6) occurs(action(("communicate_image_data","rover3","general","objective1","high_res","waypoint25","waypoint36")),6) occurs(action(("communicate_image_data","rover0","general","objective5","high_res","waypoint2","waypoint36")),6) occurs(action(("take_image","rover0","waypoint2","objective6","camera0","high_res")),6) occurs(action(("navigate","rover5","waypoint36","waypoint25")),6) occurs(action(("navigate","rover1","waypoint37","waypoint16")),6) occurs(action(("navigate","rover4","waypoint26","waypoint44")),6) occurs(action(("navigate","rover6","waypoint14","waypoint10")),6) occurs(action(("navigate","rover7","waypoint20","waypoint49")),6) occurs(action(("navigate","rover8","waypoint13","waypoint1")),6) occurs(action(("navigate","rover2","waypoint43","waypoint11")),6) occurs(action(("communicate_image_data","rover0","general","objective6","high_res","waypoint2","waypoint36")),7) occurs(action(("sample_soil","rover6","rover6store","waypoint10")),7) occurs(action(("sample_soil","rover1","rover1store","waypoint16")),7) occurs(action(("sample_soil","rover5","rover5store","waypoint25")),7) occurs(action(("take_image","rover5","waypoint25","objective1","camera4","high_res")),7) occurs(action(("navigate","rover2","waypoint11","waypoint45")),7) occurs(action(("navigate","rover7","waypoint49","waypoint23")),7) occurs(action(("navigate","rover8","waypoint1","waypoint24")),7) occurs(action(("navigate","rover9","waypoint25","waypoint35")),7) occurs(action(("navigate","rover3","waypoint25","waypoint47")),7) occurs(action(("sample_rock","rover4","rover4store","waypoint44")),7) occurs(action(("communicate_soil_data","rover5","general","waypoint25","waypoint25","waypoint36")),8) occurs(action(("sample_soil","rover8","rover8store","waypoint24")),8) occurs(action(("sample_soil","rover2","rover2store","waypoint45")),8) occurs(action(("navigate","rover1","waypoint16","waypoint37")),8) occurs(action(("navigate","rover6","waypoint10","waypoint20")),8) occurs(action(("navigate","rover3","waypoint47","waypoint3")),8) occurs(action(("navigate","rover4","waypoint44","waypoint30")),8) occurs(action(("navigate","rover9","waypoint35","waypoint28")),8) occurs(action(("navigate","rover7","waypoint23","waypoint34")),8) occurs(action(("drop","rover6","rover6store")),8) occurs(action(("drop","rover5","rover5store")),8) occurs(action(("drop","rover1","rover1store")),8) occurs(action(("communicate_soil_data","rover6","general","waypoint10","waypoint20","waypoint36")),9) occurs(action(("communicate_soil_data","rover1","general","waypoint16","waypoint37","waypoint36")),9) occurs(action(("navigate","rover2","waypoint45","waypoint20")),9) occurs(action(("navigate","rover8","waypoint24","waypoint2")),9) occurs(action(("navigate","rover3","waypoint3","waypoint16")),9) occurs(action(("navigate","rover5","waypoint25","waypoint36")),9) occurs(action(("navigate","rover7","waypoint34","waypoint9")),9) occurs(action(("drop","rover8","rover8store")),9) occurs(action(("drop","rover2","rover2store")),9) occurs(action(("communicate_soil_data","rover8","general","waypoint24","waypoint2","waypoint36")),10) occurs(action(("communicate_soil_data","rover2","general","waypoint45","waypoint20","waypoint36")),10) occurs(action(("navigate","rover3","waypoint16","waypoint42")),10) occurs(action(("navigate","rover6","waypoint20","waypoint41")),10) occurs(action(("navigate","rover7","waypoint9","waypoint11")),10) occurs(action(("navigate","rover5","waypoint36","waypoint37")),10) occurs(action(("navigate","rover1","waypoint37","waypoint46")),10) occurs(action(("sample_soil","rover7","rover7store","waypoint11")),11) occurs(action(("sample_soil","rover6","rover6store","waypoint41")),11) occurs(action(("sample_soil","rover1","rover1store","waypoint46")),11) occurs(action(("navigate","rover2","waypoint20","waypoint45")),11) occurs(action(("navigate","rover5","waypoint37","waypoint13")),11) occurs(action(("navigate","rover8","waypoint2","waypoint24")),11) occurs(action(("navigate","rover1","waypoint46","waypoint37")),12) occurs(action(("navigate","rover6","waypoint41","waypoint20")),12) occurs(action(("navigate","rover5","waypoint13","waypoint31")),12) occurs(action(("navigate","rover7","waypoint11","waypoint9")),12) occurs(action(("navigate","rover8","waypoint24","waypoint1")),12) occurs(action(("navigate","rover2","waypoint45","waypoint11")),12) occurs(action(("drop","rover6","rover6store")),12) occurs(action(("communicate_soil_data","rover6","general","waypoint41","waypoint20","waypoint36")),13) occurs(action(("communicate_soil_data","rover1","general","waypoint46","waypoint37","waypoint36")),13) occurs(action(("sample_soil","rover8","rover8store","waypoint1")),13) occurs(action(("sample_soil","rover5","rover5store","waypoint31")),13) occurs(action(("navigate","rover2","waypoint11","waypoint42")),13) occurs(action(("navigate","rover7","waypoint9","waypoint2")),13) occurs(action(("drop","rover7","rover7store")),13) occurs(action(("communicate_soil_data","rover6","general","waypoint10","waypoint20","waypoint36")),14) occurs(action(("communicate_soil_data","rover7","general","waypoint11","waypoint2","waypoint36")),14) occurs(action(("communicate_soil_data","rover6","general","waypoint41","waypoint20","waypoint36")),14) occurs(action(("communicate_soil_data","rover7","general","waypoint49","waypoint2","waypoint36")),14) occurs(action(("navigate","rover2","waypoint42","waypoint18")),14) occurs(action(("navigate","rover1","waypoint37","waypoint16")),14) occurs(action(("navigate","rover5","waypoint31","waypoint13")),14) occurs(action(("navigate","rover8","waypoint1","waypoint13")),14) occurs(action(("drop","rover8","rover8store")),14) occurs(action(("drop","rover5","rover5store")),14) occurs(action(("communicate_soil_data","rover7","general","waypoint11","waypoint2","waypoint36")),15) occurs(action(("communicate_soil_data","rover7","general","waypoint49","waypoint2","waypoint36")),15) occurs(action(("sample_soil","rover2","rover2store","waypoint18")),15) occurs(action(("navigate","rover1","waypoint16","waypoint32")),15) occurs(action(("navigate","rover5","waypoint13","waypoint32")),15) occurs(action(("navigate","rover8","waypoint13","waypoint32")),15) occurs(action(("navigate","rover6","waypoint20","waypoint10")),15) occurs(action(("communicate_soil_data","rover8","general","waypoint1","waypoint32","waypoint36")),16) occurs(action(("communicate_soil_data","rover7","general","waypoint11","waypoint2","waypoint36")),16) occurs(action(("communicate_soil_data","rover1","general","waypoint16","waypoint32","waypoint36")),16) occurs(action(("communicate_soil_data","rover2","general","waypoint18","waypoint18","waypoint36")),16) occurs(action(("communicate_soil_data","rover5","general","waypoint31","waypoint32","waypoint36")),16) occurs(action(("communicate_soil_data","rover2","general","waypoint45","waypoint18","waypoint36")),16) occurs(action(("communicate_soil_data","rover7","general","waypoint49","waypoint2","waypoint36")),16) occurs(action(("navigate","rover6","waypoint10","waypoint14")),16) occurs(action(("navigate","rover2","waypoint18","waypoint42")),17) occurs(action(("navigate","rover1","waypoint32","waypoint16")),17) occurs(action(("navigate","rover5","waypoint32","waypoint13")),17) occurs(action(("navigate","rover6","waypoint14","waypoint5")),17) occurs(action(("navigate","rover7","waypoint2","waypoint9")),17) occurs(action(("navigate","rover8","waypoint32","waypoint13")),17) occurs(action(("navigate","rover1","waypoint16","waypoint37")),18) occurs(action(("navigate","rover6","waypoint5","waypoint19")),18) occurs(action(("navigate","rover8","waypoint13","waypoint1")),18) occurs(action(("navigate","rover5","waypoint13","waypoint37")),18) occurs(action(("navigate","rover7","waypoint9","waypoint34")),18) occurs(action(("navigate","rover2","waypoint42","waypoint11")),18) occurs(action(("navigate","rover2","waypoint11","waypoint0")),19) occurs(action(("navigate","rover5","waypoint37","waypoint8")),19) occurs(action(("navigate","rover6","waypoint19","waypoint1")),19) occurs(action(("navigate","rover7","waypoint34","waypoint29")),19) occurs(action(("navigate","rover8","waypoint1","waypoint35")),19) occurs(action(("navigate","rover1","waypoint37","waypoint46")),19) occurs(action(("navigate","rover1","waypoint46","waypoint14")),20) occurs(action(("navigate","rover5","waypoint8","waypoint12")),20) occurs(action(("navigate","rover7","waypoint29","waypoint0")),20) occurs(action(("navigate","rover1","waypoint14","waypoint13")),21) occurs(action(("navigate","rover5","waypoint12","waypoint0")),21) occurs(action(("navigate","rover1","waypoint13","waypoint42")),22) occurs(action(("navigate","rover2","waypoint0","waypoint4")),22) occurs(action(("navigate","rover1","waypoint42","waypoint2")),23) occurs(action(("communicate_rock_data","rover1","general","waypoint48","waypoint2","waypoint36")),24) occurs(action(("communicate_rock_data","rover0","general","waypoint2","waypoint2","waypoint36")),25) occurs(action(("sample_soil","rover8","rover8store","waypoint35")),26) occurs(action(("drop","rover2","rover2store")),27) occurs(action(("drop","rover0","rover0store")),27) occurs(action(("sample_rock","rover5","rover5store","waypoint0")),28) occurs(action(("drop","rover8","rover8store")),29) occurs(action(("drop","rover1","rover1store")),29) occurs(action(("sample_rock","rover3","rover3store","waypoint42")),29) occurs(action(("calibrate","rover5","camera2","objective3","waypoint0")),30) occurs(action(("calibrate","rover5","camera4","objective1","waypoint0")),30) occurs(action(("calibrate","rover0","camera0","objective3","waypoint2")),30) occurs(action(("calibrate","rover3","camera1","objective7","waypoint42")),30) occurs(action(("calibrate","rover1","camera6","objective3","waypoint2")),30) occurs(action(("calibrate","rover1","camera7","objective0","waypoint2")),30) occurs(action(("calibrate","rover2","camera12","objective5","waypoint4")),30) occurs(action(("calibrate","rover4","camera8","objective1","waypoint30")),30) occurs(action(("calibrate","rover5","camera9","objective5","waypoint0")),30) occurs(action(("calibrate","rover6","camera3","objective6","waypoint1")),30) occurs(action(("calibrate","rover6","camera5","objective4","waypoint1")),30) occurs(action(("calibrate","rover7","camera13","objective0","waypoint0")),30) occurs(action(("calibrate","rover9","camera10","objective1","waypoint28")),30) occurs(action(("drop","rover4","rover4store")),30) occurs(action(("drop","rover3","rover3store")),30) SATISFIABLE Models : 1+ Calls : 8 Time : 30.823s (Solving: 24.92s 1st Model: 4.89s Unsat: 0.00s) CPU Time : 30.776s Choices : 1988339 (Domain: 1953625) Conflicts : 55685 (Analyzed: 55685) Restarts : 585 (Average: 95.19 Last: 106) Model-Level : 1971.0 Problems : 8 (Average Length: 16.38 Splits: 0) Lemmas : 55685 (Deleted: 47238) Binary : 2527 (Ratio: 4.54%) Ternary : 511 (Ratio: 0.92%) Conflict : 55685 (Average Length: 72.6 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 55685 (Average: 34.70 Max: 859 Sum: 1932044) Executed : 55177 (Average: 34.55 Max: 859 Sum: 1923782 Ratio: 99.57%) Bounded : 508 (Average: 16.26 Max: 32 Sum: 8262 Ratio: 0.43%) Rules : 178086 (Original: 175066) Atoms : 108700 Bodies : 68453 (Original: 65432) Count : 444 (Original: 686) Equivalences : 25141 (Atom=Atom: 43 Body=Body: 0 Other: 25098) Tight : Yes Variables : 204629 (Eliminated: 0 Frozen: 122875) Constraints : 1236401 (Binary: 95.7% Ternary: 3.2% Other: 1.2%) Memory Peak : 319MB Max. Length : 30 steps Sol. Length : 30 steps Models : 2