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-4.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-4.pddl Parsing... Parsing: [0.090s CPU, 0.090s wall-clock] Normalizing task... [0.010s CPU, 0.007s wall-clock] Instantiating... Generating Datalog program... [0.010s CPU, 0.015s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.210s CPU, 0.214s wall-clock] Preparing model... [0.070s CPU, 0.068s wall-clock] Generated 400 rules. Computing model... [6.540s CPU, 6.532s wall-clock] 30443 relevant atoms 32000 auxiliary atoms 62443 final queue length 160700 total queue pushes Completing instantiation... [17.580s CPU, 17.566s wall-clock] Instantiating: [24.480s CPU, 24.471s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.610s CPU, 0.607s 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: [0.650s CPU, 0.653s wall-clock] Building STRIPS to SAS dictionary... [0.010s CPU, 0.004s 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, 1.089s wall-clock] Translating task: [20.910s CPU, 20.897s 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: [10.350s CPU, 10.344s 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, 6.788s 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: 228208 KB Writing output... [5.970s CPU, 6.360s wall-clock] Done! [69.900s CPU, 70.270s wall-clock] planner.py version 0.0.1 Time: 16.91s Memory: 1126MB 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... [start: stats after solve call] Models : 0 Calls : 1 Time : 19.930s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 16.992s Choices : 0 Conflicts : 0 (Analyzed: 0) Restarts : 0 Problems : 1 (Average Length: 2.00 Splits: 0) Lemmas : 0 (Deleted: 0) Binary : 0 (Ratio: 0.00%) Ternary : 0 (Ratio: 0.00%) Conflict : 0 (Average Length: 0.0 Ratio: 0.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 0 (Average: 0.00 Max: 0 Sum: 0) Executed : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 100.00%) Rules : 995031 Atoms : 995031 Bodies : 1 (Original: 0) Tight : Yes Variables : 0 (Eliminated: 0 Frozen: 0) Constraints : 0 (Binary: 0.0% Ternary: 0.0% Other: 0.0%) Memory Peak : 1262MB Max. Length : 0 steps Models : 0 [endof: stats after solve call] Solving Time: 0.08s Memory: 1198MB (+72MB) 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: 1198MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 3.31s Memory: 1198MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 2 Time : 30.757s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 27.824s Choices : 0 Conflicts : 0 (Analyzed: 0) Restarts : 0 Problems : 2 (Average Length: 4.50 Splits: 0) Lemmas : 0 (Deleted: 0) Binary : 0 (Ratio: 0.00%) Ternary : 0 (Ratio: 0.00%) Conflict : 0 (Average Length: 0.0 Ratio: 0.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 0 (Average: 0.00 Max: 0 Sum: 0) Executed : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 100.00%) Rules : 995031 Atoms : 995031 Bodies : 1 (Original: 0) Tight : Yes Variables : 74802 (Eliminated: 0 Frozen: 74802) Constraints : 8146 (Binary: 94.6% Ternary: 3.1% Other: 2.3%) Memory Peak : 1262MB Max. Length : 0 steps Models : 0 [endof: stats after solve call] Solving Time: 6.15s Memory: 1199MB (+1MB) UNSAT Iteration Time: 10.84s 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: 1200.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 3.14s Memory: 1199MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 3 Time : 47.486s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 44.564s Choices : 0 Conflicts : 0 (Analyzed: 0) Restarts : 0 Problems : 3 (Average Length: 7.00 Splits: 0) Lemmas : 0 (Deleted: 0) Binary : 0 (Ratio: 0.00%) Ternary : 0 (Ratio: 0.00%) Conflict : 0 (Average Length: 0.0 Ratio: 0.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 0 (Average: 0.00 Max: 0 Sum: 0) Executed : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 100.00%) Rules : 995031 Atoms : 995031 Bodies : 1 (Original: 0) Tight : Yes Variables : 150380 (Eliminated: 0 Frozen: 150380) Constraints : 137798 (Binary: 98.0% Ternary: 1.0% Other: 0.9%) Memory Peak : 1262MB Max. Length : 5 steps Models : 0 [endof: stats after solve call] Solving Time: 12.06s Memory: 1211MB (+12MB) UNSAT Iteration Time: 16.74s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1223.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.93s Memory: 1211MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 4 Time : 67.899s (Solving: 0.05s 1st Model: 0.03s Unsat: 0.00s) CPU Time : 64.984s Choices : 1613 (Domain: 453) Conflicts : 74 (Analyzed: 74) Restarts : 0 Model-Level : 967.0 Problems : 4 (Average Length: 9.50 Splits: 0) Lemmas : 74 (Deleted: 0) Binary : 6 (Ratio: 8.11%) Ternary : 2 (Ratio: 2.70%) Conflict : 74 (Average Length: 37.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 74 (Average: 8.96 Max: 309 Sum: 663) Executed : 74 (Average: 8.96 Max: 309 Sum: 663 Ratio: 100.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Rules : 995031 Atoms : 995031 Bodies : 1 (Original: 0) Tight : Yes Variables : 229685 (Eliminated: 0 Frozen: 229685) Constraints : 977345 (Binary: 99.2% Ternary: 0.4% Other: 0.4%) Memory Peak : 1262MB Max. Length : 10 steps Models : 1 [endof: stats after solve call] Solving Time: 14.79s Memory: 1220MB (+9MB) SAT Testing... NOT SERIALIZABLE Testing Time: 19.93s Memory: 1914MB (+694MB) Solving... [start: stats after solve call] Models : 0 Calls : 5 Time : 73.906s (Solving: 0.47s 1st Model: 0.03s Unsat: 0.42s) CPU Time : 70.992s Choices : 2584 (Domain: 879) Conflicts : 226 (Analyzed: 225) Restarts : 0 Model-Level : 967.0 Problems : 5 (Average Length: 11.00 Splits: 0) Lemmas : 225 (Deleted: 0) Binary : 20 (Ratio: 8.89%) Ternary : 5 (Ratio: 2.22%) Conflict : 225 (Average Length: 201.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 225 (Average: 7.49 Max: 309 Sum: 1685) Executed : 222 (Average: 7.26 Max: 309 Sum: 1634 Ratio: 96.97%) Bounded : 3 (Average: 17.00 Max: 17 Sum: 51 Ratio: 3.03%) Rules : 1327778 (Original: 1327087) Atoms : 1057795 Bodies : 171315 (Original: 170711) Count : 1971 (Original: 2077) Equivalences : 56876 (Atom=Atom: 118 Body=Body: 0 Other: 56758) Tight : Yes Variables : 234515 (Eliminated: 627 Frozen: 233807) Constraints : 1256972 (Binary: 99.0% Ternary: 0.4% Other: 0.6%) Memory Peak : 1914MB Max. Length : 10 steps Models : 1 [endof: stats after solve call] Solving Time: 1.16s Memory: 1914MB (+0MB) UNSAT Iteration Time: 41.52s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1926.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 6.27s Memory: 1914MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 6 Time : 638.857s (Solving: 528.60s 1st Model: 0.03s Unsat: 0.42s) CPU Time : 636.188s Choices : 295773 (Domain: 210680) Conflicts : 146274 (Analyzed: 146273) Restarts : 100 (Average: 1462.73 Last: 8450) Model-Level : 967.0 Problems : 6 (Average Length: 12.83 Splits: 0) Lemmas : 146273 (Deleted: 116547) Binary : 218 (Ratio: 0.15%) Ternary : 116 (Ratio: 0.08%) Conflict : 146273 (Average Length: 4068.3 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 146273 (Average: 1.81 Max: 4264 Sum: 264748) Executed : 146213 (Average: 1.80 Max: 4264 Sum: 263473 Ratio: 99.52%) Bounded : 60 (Average: 21.25 Max: 22 Sum: 1275 Ratio: 0.48%) Rules : 1327778 (Original: 1327087) Atoms : 1057795 Bodies : 171315 (Original: 170711) Count : 1971 (Original: 2077) Equivalences : 56876 (Atom=Atom: 118 Body=Body: 0 Other: 56758) Tight : Yes Variables : 329401 (Eliminated: 627 Frozen: 328768) Constraints : 3179680 (Binary: 99.3% Ternary: 0.3% Other: 0.5%) Memory Peak : 2568MB Max. Length : 15 steps Models : 1 [endof: stats after solve call] Solving Time: 557.02s Memory: 2504MB (+590MB) UNKNOWN Iteration Time: 565.21s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 3094.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.40s Memory: 2504MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 7 Time : 681.825s (Solving: 533.95s 1st Model: 5.33s Unsat: 0.42s) CPU Time : 679.176s Choices : 300356 (Domain: 212167) Conflicts : 147444 (Analyzed: 147443) Restarts : 100 (Average: 1474.43 Last: 8450) Model-Level : 550.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 147443 (Deleted: 116547) Binary : 219 (Ratio: 0.15%) Ternary : 117 (Ratio: 0.08%) Conflict : 147443 (Average Length: 4131.6 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 147443 (Average: 1.83 Max: 4264 Sum: 269224) Executed : 147383 (Average: 1.82 Max: 4264 Sum: 267949 Ratio: 99.53%) Bounded : 60 (Average: 21.25 Max: 22 Sum: 1275 Ratio: 0.47%) Rules : 1327778 (Original: 1327087) Atoms : 1057795 Bodies : 171315 (Original: 170711) Count : 1971 (Original: 2077) Equivalences : 56876 (Atom=Atom: 118 Body=Body: 0 Other: 56758) Tight : Yes Variables : 425357 (Eliminated: 627 Frozen: 424730) Constraints : 5031993 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2568MB Max. Length : 20 steps Models : 2 [endof: stats after solve call] Solving Time: 34.79s Memory: 2567MB (+63MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2567MB (+0MB) Answer: 2 occurs(action(("finish-object","object3","x3","y5")),1) occurs(action(("finish-object","object0","x2","y4")),1) occurs(action(("finish-object","object2","x3","y4")),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(("base-right","pr2","x4","x5","y0")),6) occurs(action(("base-right","pr2","x5","x6","y0")),7) occurs(action(("base-down","pr2","x6","y0","y1")),8) occurs(action(("base-down","pr2","x6","y1","y2")),9) occurs(action(("base-down","pr2","x6","y2","y3")),10) occurs(action(("base-down","pr2","x6","y3","y4")),11) occurs(action(("base-down","pr2","x6","y4","y5")),12) occurs(action(("park","pr2")),13) occurs(action(("get-down","pr2","x6","y5","xrel0","x6","yrel0","y5","object1","y6")),14) occurs(action(("unpark","pr2","xrel0","yrel0")),15) occurs(action(("base-left","pr2","x6","x5","y5")),16) occurs(action(("base-left","pr2","x5","x4","y5")),17) occurs(action(("base-left","pr2","x4","x3","y5")),18) occurs(action(("park","pr2")),19) occurs(action(("put-left","pr2","x3","y5","xrel0","x3","yrel0","y5","object1","x2")),20) occurs(action(("finish-object","object1","x2","y5")),21) occurs(action(("unpark","pr2","xrel0","yrel0")),21) occurs(action(("base-right","pr2","x3","x4","y5")),22) occurs(action(("base-right","pr2","x4","x5","y5")),23) occurs(action(("base-up","pr2","x5","y5","y4")),24) occurs(action(("base-up","pr2","x5","y4","y3")),25) SATISFIABLE Models : 1+ Calls : 7 Time : 681.825s (Solving: 533.95s 1st Model: 5.33s Unsat: 0.42s) CPU Time : 679.176s Choices : 300356 (Domain: 212167) Conflicts : 147444 (Analyzed: 147443) Restarts : 100 (Average: 1474.43 Last: 8450) Model-Level : 550.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 147443 (Deleted: 116547) Binary : 219 (Ratio: 0.15%) Ternary : 117 (Ratio: 0.08%) Conflict : 147443 (Average Length: 4131.6 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 147443 (Average: 1.83 Max: 4264 Sum: 269224) Executed : 147383 (Average: 1.82 Max: 4264 Sum: 267949 Ratio: 99.53%) Bounded : 60 (Average: 21.25 Max: 22 Sum: 1275 Ratio: 0.47%) Rules : 1327778 (Original: 1327087) Atoms : 1057795 Bodies : 171315 (Original: 170711) Count : 1971 (Original: 2077) Equivalences : 56876 (Atom=Atom: 118 Body=Body: 0 Other: 56758) Tight : Yes Variables : 425357 (Eliminated: 627 Frozen: 424730) Constraints : 5031993 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2568MB Max. Length : 25 steps Sol. Length : 25 steps Models : 2