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, 0.069s wall-clock] Normalizing task... [0.000s CPU, 0.006s wall-clock] Instantiating... Generating Datalog program... [0.020s CPU, 0.013s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.200s CPU, 0.205s wall-clock] Preparing model... [0.070s CPU, 0.068s wall-clock] Generated 400 rules. Computing model... [6.580s CPU, 6.570s wall-clock] 30443 relevant atoms 31994 auxiliary atoms 62437 final queue length 160694 total queue pushes Completing instantiation... [17.550s CPU, 17.539s wall-clock] Instantiating: [24.490s CPU, 24.468s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.600s CPU, 0.605s 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, 0.015s wall-clock] Computing fact groups: [0.640s CPU, 0.649s 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: [0.010s 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: [20.940s CPU, 20.935s 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: [10.360s CPU, 10.356s 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: [6.770s CPU, 6.774s 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: 228412 KB Writing output... [5.990s CPU, 6.375s wall-clock] Done! [69.930s CPU, 70.289s wall-clock] planner.py version 0.0.1 Time: 16.94s 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 : 20.044s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 17.020s 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 : 995007 Atoms : 995007 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: 0.09s Memory: 1198MB (+72MB) UNSAT Iteration Time: 0.09s 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: 3.32s Memory: 1198MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 2 Time : 25.080s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 22.060s 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 : 995007 Atoms : 995007 Bodies : 1 (Original: 0) Tight : Yes Variables : 74750 (Eliminated: 0 Frozen: 0) Constraints : 8558 (Binary: 94.9% Ternary: 2.9% Other: 2.3%) Memory Peak : 1262MB Max. Length : 0 steps Models : 0 [endof: stats after solve call] Solving Time: 0.35s Memory: 1201MB (+3MB) UNSAT Iteration Time: 5.04s 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: 1204.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 3.11s Memory: 1201MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 3 Time : 30.017s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 27.000s Choices : 61 (Domain: 51) Conflicts : 12 (Analyzed: 11) Restarts : 0 Problems : 3 (Average Length: 7.00 Splits: 0) Lemmas : 11 (Deleted: 0) Binary : 3 (Ratio: 27.27%) Ternary : 4 (Ratio: 36.36%) Conflict : 11 (Average Length: 22.4 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 11 (Average: 5.73 Max: 16 Sum: 63) Executed : 9 (Average: 5.55 Max: 16 Sum: 61 Ratio: 96.83%) Bounded : 2 (Average: 1.00 Max: 1 Sum: 2 Ratio: 3.17%) Rules : 995007 Atoms : 995007 Bodies : 1 (Original: 0) Tight : Yes Variables : 150520 (Eliminated: 0 Frozen: 0) Constraints : 236666 (Binary: 98.6% Ternary: 0.7% Other: 0.7%) Memory Peak : 1262MB Max. Length : 5 steps Models : 0 [endof: stats after solve call] Solving Time: 0.40s Memory: 1209MB (+8MB) UNSAT Iteration Time: 4.94s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1217.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.90s Memory: 1209MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 4 Time : 35.876s (Solving: 0.09s 1st Model: 0.06s Unsat: 0.00s) CPU Time : 32.864s Choices : 5357 (Domain: 1585) Conflicts : 163 (Analyzed: 162) Restarts : 0 Model-Level : 1084.0 Problems : 4 (Average Length: 9.50 Splits: 0) Lemmas : 162 (Deleted: 0) Binary : 7 (Ratio: 4.32%) Ternary : 13 (Ratio: 8.02%) Conflict : 162 (Average Length: 44.3 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 162 (Average: 26.49 Max: 406 Sum: 4292) Executed : 160 (Average: 26.48 Max: 406 Sum: 4290 Ratio: 99.95%) Bounded : 2 (Average: 1.00 Max: 1 Sum: 2 Ratio: 0.05%) Rules : 995007 Atoms : 995007 Bodies : 1 (Original: 0) Tight : Yes Variables : 232389 (Eliminated: 0 Frozen: 0) Constraints : 1155971 (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: 0.37s Memory: 1220MB (+11MB) SAT Testing... NOT SERIALIZABLE Testing Time: 19.90s Memory: 1861MB (+641MB) Solving... [start: stats after solve call] Models : 0 Calls : 5 Time : 51.307s (Solving: 10.41s 1st Model: 0.06s Unsat: 10.33s) CPU Time : 48.304s Choices : 15625 (Domain: 8895) Conflicts : 4216 (Analyzed: 4214) Restarts : 43 (Average: 98.00 Last: 151) Model-Level : 1084.0 Problems : 5 (Average Length: 11.00 Splits: 0) Lemmas : 4214 (Deleted: 1004) Binary : 94 (Ratio: 2.23%) Ternary : 70 (Ratio: 1.66%) Conflict : 4214 (Average Length: 640.4 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 4214 (Average: 3.40 Max: 406 Sum: 14319) Executed : 4174 (Average: 3.26 Max: 406 Sum: 13721 Ratio: 95.82%) Bounded : 40 (Average: 14.95 Max: 17 Sum: 598 Ratio: 4.18%) Rules : 1389984 (Original: 1389345) Atoms : 1057741 Bodies : 217671 (Original: 217087) Count : 2189 (Original: 2284) Equivalences : 68906 (Atom=Atom: 111 Body=Body: 0 Other: 68795) Tight : Yes Variables : 237619 (Eliminated: 0 Frozen: 68521) Constraints : 1499795 (Binary: 99.1% Ternary: 0.3% Other: 0.6%) Memory Peak : 1917MB Max. Length : 10 steps Models : 1 [endof: stats after solve call] Solving Time: 10.65s Memory: 1861MB (+0MB) UNSAT Iteration Time: 36.42s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1872.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 6.18s Memory: 1861MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 6 Time : 98.204s (Solving: 49.06s 1st Model: 0.06s Unsat: 10.33s) CPU Time : 95.220s Choices : 39805 (Domain: 26896) Conflicts : 13139 (Analyzed: 13137) Restarts : 143 (Average: 91.87 Last: 151) Model-Level : 1084.0 Problems : 6 (Average Length: 12.83 Splits: 0) Lemmas : 13137 (Deleted: 10237) Binary : 120 (Ratio: 0.91%) Ternary : 97 (Ratio: 0.74%) Conflict : 13137 (Average Length: 1518.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 13137 (Average: 2.61 Max: 409 Sum: 34250) Executed : 13070 (Average: 2.52 Max: 409 Sum: 33076 Ratio: 96.57%) Bounded : 67 (Average: 17.52 Max: 22 Sum: 1174 Ratio: 3.43%) Rules : 1389984 (Original: 1389345) Atoms : 1057741 Bodies : 217671 (Original: 217087) Count : 2189 (Original: 2284) Equivalences : 68906 (Atom=Atom: 111 Body=Body: 0 Other: 68795) Tight : Yes Variables : 332461 (Eliminated: 0 Frozen: 153326) Constraints : 3403157 (Binary: 99.3% Ternary: 0.2% Other: 0.4%) Memory Peak : 1917MB Max. Length : 15 steps Models : 1 [endof: stats after solve call] Solving Time: 38.84s Memory: 1874MB (+13MB) UNKNOWN Iteration Time: 46.93s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 1887.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.36s Memory: 1874MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 7 Time : 114.647s (Solving: 57.35s 1st Model: 8.29s Unsat: 10.33s) CPU Time : 111.672s Choices : 44303 (Domain: 30718) Conflicts : 14790 (Analyzed: 14788) Restarts : 162 (Average: 91.28 Last: 151) Model-Level : 596.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 14788 (Deleted: 10237) Binary : 120 (Ratio: 0.81%) Ternary : 100 (Ratio: 0.68%) Conflict : 14788 (Average Length: 3358.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 14788 (Average: 2.54 Max: 409 Sum: 37604) Executed : 14721 (Average: 2.46 Max: 409 Sum: 36430 Ratio: 96.88%) Bounded : 67 (Average: 17.52 Max: 22 Sum: 1174 Ratio: 3.12%) Rules : 1389984 (Original: 1389345) Atoms : 1057741 Bodies : 217671 (Original: 217087) Count : 2189 (Original: 2284) Equivalences : 68906 (Atom=Atom: 111 Body=Body: 0 Other: 68795) Tight : Yes Variables : 428357 (Eliminated: 0 Frozen: 239171) Constraints : 5373302 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2025MB Max. Length : 20 steps Models : 2 [endof: stats after solve call] Solving Time: 8.48s Memory: 2025MB (+151MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2025MB (+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-down","pr2","x3","y2","y3")),15) occurs(action(("base-left","pr2","x3","x2","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-down","pr2","x2","y3","y4")),25) SATISFIABLE Models : 1+ Calls : 7 Time : 114.647s (Solving: 57.35s 1st Model: 8.29s Unsat: 10.33s) CPU Time : 111.672s Choices : 44303 (Domain: 30718) Conflicts : 14790 (Analyzed: 14788) Restarts : 162 (Average: 91.28 Last: 151) Model-Level : 596.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 14788 (Deleted: 10237) Binary : 120 (Ratio: 0.81%) Ternary : 100 (Ratio: 0.68%) Conflict : 14788 (Average Length: 3358.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 14788 (Average: 2.54 Max: 409 Sum: 37604) Executed : 14721 (Average: 2.46 Max: 409 Sum: 36430 Ratio: 96.88%) Bounded : 67 (Average: 17.52 Max: 22 Sum: 1174 Ratio: 3.12%) Rules : 1389984 (Original: 1389345) Atoms : 1057741 Bodies : 217671 (Original: 217087) Count : 2189 (Original: 2284) Equivalences : 68906 (Atom=Atom: 111 Body=Body: 0 Other: 68795) Tight : Yes Variables : 428357 (Eliminated: 0 Frozen: 239171) Constraints : 5373302 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2025MB Max. Length : 25 steps Sol. Length : 25 steps Models : 2