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, 0.072s wall-clock] Normalizing task... [0.000s CPU, 0.006s wall-clock] Instantiating... Generating Datalog program... [0.020s CPU, 0.014s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.210s CPU, 0.208s wall-clock] Preparing model... [0.070s CPU, 0.068s wall-clock] Generated 400 rules. Computing model... [6.520s CPU, 6.517s wall-clock] 30443 relevant atoms 31994 auxiliary atoms 62437 final queue length 160694 total queue pushes Completing instantiation... [17.520s CPU, 17.506s wall-clock] Instantiating: [24.400s CPU, 24.386s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.610s CPU, 0.616s wall-clock] Checking invariant weight... [0.000s CPU, 0.001s wall-clock] Instantiating groups... [0.010s 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, 0.659s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.003s 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: [1.100s CPU, 1.098s wall-clock] Translating task: [20.880s CPU, 20.865s 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: [10.280s CPU, 10.282s 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, 6.763s 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... [5.910s CPU, 6.299s wall-clock] Done! [69.620s CPU, 69.985s wall-clock] planner.py version 0.0.1 Time: 16.99s 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 : 20.117s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 17.060s 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: 3.31s Memory: 1198MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 2 Time : 30.959s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 27.904s 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: 74750) 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: 6.17s Memory: 1213MB (+15MB) UNSAT Iteration Time: 10.85s 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: 1228.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 3.13s Memory: 1213MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 3 Time : 47.886s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 44.836s Choices : 64 (Domain: 55) Conflicts : 16 (Analyzed: 15) Restarts : 0 Problems : 3 (Average Length: 7.00 Splits: 0) Lemmas : 15 (Deleted: 0) Binary : 7 (Ratio: 46.67%) Ternary : 4 (Ratio: 26.67%) Conflict : 15 (Average Length: 11.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 15 (Average: 6.07 Max: 15 Sum: 91) Executed : 10 (Average: 4.27 Max: 15 Sum: 64 Ratio: 70.33%) Bounded : 5 (Average: 5.40 Max: 12 Sum: 27 Ratio: 29.67%) Rules : 995007 Atoms : 995007 Bodies : 1 (Original: 0) Tight : Yes Variables : 150520 (Eliminated: 0 Frozen: 150520) 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: 12.26s Memory: 1215MB (+2MB) UNSAT Iteration Time: 16.94s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1230.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.93s Memory: 1215MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 4 Time : 68.895s (Solving: 0.08s 1st Model: 0.06s Unsat: 0.00s) CPU Time : 65.852s Choices : 4239 (Domain: 1411) Conflicts : 155 (Analyzed: 154) Restarts : 1 (Average: 154.00 Last: 39) Model-Level : 907.0 Problems : 4 (Average Length: 9.50 Splits: 0) Lemmas : 154 (Deleted: 0) Binary : 12 (Ratio: 7.79%) Ternary : 10 (Ratio: 6.49%) Conflict : 154 (Average Length: 33.4 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 154 (Average: 16.64 Max: 182 Sum: 2563) Executed : 148 (Average: 16.36 Max: 182 Sum: 2519 Ratio: 98.28%) Bounded : 6 (Average: 7.33 Max: 17 Sum: 44 Ratio: 1.72%) Rules : 995007 Atoms : 995007 Bodies : 1 (Original: 0) Tight : Yes Variables : 232389 (Eliminated: 0 Frozen: 232389) Constraints : 1155236 (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: 15.39s Memory: 1235MB (+20MB) SAT Testing... NOT SERIALIZABLE Testing Time: 20.13s Memory: 1854MB (+619MB) Solving... [start: stats after solve call] Models : 0 Calls : 5 Time : 81.095s (Solving: 6.53s 1st Model: 0.06s Unsat: 6.45s) CPU Time : 78.056s Choices : 10631 (Domain: 6179) Conflicts : 2489 (Analyzed: 2487) Restarts : 14 (Average: 177.64 Last: 317) Model-Level : 907.0 Problems : 5 (Average Length: 11.00 Splits: 0) Lemmas : 2487 (Deleted: 0) Binary : 87 (Ratio: 3.50%) Ternary : 50 (Ratio: 2.01%) Conflict : 2487 (Average Length: 361.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 2487 (Average: 3.67 Max: 182 Sum: 9116) Executed : 2448 (Average: 3.43 Max: 182 Sum: 8542 Ratio: 93.70%) Bounded : 39 (Average: 14.72 Max: 17 Sum: 574 Ratio: 6.30%) Rules : 1389596 (Original: 1388965) Atoms : 1057682 Bodies : 217382 (Original: 216806) Count : 2188 (Original: 2282) Equivalences : 68859 (Atom=Atom: 109 Body=Body: 0 Other: 68750) Tight : Yes Variables : 237606 (Eliminated: 617 Frozen: 236939) Constraints : 1497113 (Binary: 99.1% Ternary: 0.3% Other: 0.6%) Memory Peak : 1910MB Max. Length : 10 steps Models : 1 [endof: stats after solve call] Solving Time: 7.39s Memory: 1854MB (+0MB) UNSAT Iteration Time: 48.55s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1874.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 6.22s Memory: 1854MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 6 Time : 211.329s (Solving: 100.01s 1st Model: 0.06s Unsat: 6.45s) CPU Time : 208.344s Choices : 73192 (Domain: 59171) Conflicts : 30617 (Analyzed: 30615) Restarts : 114 (Average: 268.55 Last: 317) Model-Level : 907.0 Problems : 6 (Average Length: 12.83 Splits: 0) Lemmas : 30615 (Deleted: 19699) Binary : 128 (Ratio: 0.42%) Ternary : 90 (Ratio: 0.29%) Conflict : 30615 (Average Length: 2546.9 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 30615 (Average: 2.17 Max: 300 Sum: 66362) Executed : 30565 (Average: 2.14 Max: 300 Sum: 65561 Ratio: 98.79%) Bounded : 50 (Average: 16.02 Max: 22 Sum: 801 Ratio: 1.21%) Rules : 1389596 (Original: 1388965) Atoms : 1057682 Bodies : 217382 (Original: 216806) Count : 2188 (Original: 2282) Equivalences : 68859 (Atom=Atom: 109 Body=Body: 0 Other: 68750) Tight : Yes Variables : 332448 (Eliminated: 617 Frozen: 331825) Constraints : 3378228 (Binary: 99.3% Ternary: 0.2% Other: 0.4%) Memory Peak : 2033MB Max. Length : 15 steps Models : 1 [endof: stats after solve call] Solving Time: 122.11s Memory: 2033MB (+179MB) UNKNOWN Iteration Time: 130.30s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 2212.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.36s Memory: 2033MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 7 Time : 254.638s (Solving: 105.99s 1st Model: 5.98s Unsat: 6.45s) CPU Time : 251.672s Choices : 81352 (Domain: 62273) Conflicts : 32023 (Analyzed: 32021) Restarts : 123 (Average: 260.33 Last: 317) Model-Level : 503.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 32021 (Deleted: 19699) Binary : 129 (Ratio: 0.40%) Ternary : 91 (Ratio: 0.28%) Conflict : 32021 (Average Length: 3405.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 32021 (Average: 2.30 Max: 300 Sum: 73509) Executed : 31971 (Average: 2.27 Max: 300 Sum: 72708 Ratio: 98.91%) Bounded : 50 (Average: 16.02 Max: 22 Sum: 801 Ratio: 1.09%) Rules : 1389596 (Original: 1388965) Atoms : 1057682 Bodies : 217382 (Original: 216806) Count : 2188 (Original: 2282) Equivalences : 68859 (Atom=Atom: 109 Body=Body: 0 Other: 68750) Tight : Yes Variables : 428344 (Eliminated: 617 Frozen: 427727) Constraints : 5356398 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2205MB Max. Length : 20 steps Models : 2 [endof: stats after solve call] Solving Time: 35.28s Memory: 2205MB (+172MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2205MB (+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(("park","pr2")),16) occurs(action(("gripper-left","pr2","x2","y2","xrel0","xrel-1","x2","x1","yrel0","y2")),17) occurs(action(("gripper-down","pr2","x2","y2","xrel-1","x1","yrel0","yrel1","y2","y3")),18) occurs(action(("get-down","pr2","x2","y2","xrel-1","x1","yrel1","y3","object1","y4")),19) occurs(action(("gripper-right","pr2","x2","y2","xrel-1","xrel0","x1","x2","yrel1","y3")),20) occurs(action(("gripper-right","pr2","x2","y2","xrel0","xrel1","x2","x3","yrel1","y3")),21) occurs(action(("put-right","pr2","x2","y2","xrel1","x3","yrel1","y3","object1","x4")),22) occurs(action(("finish-object","object1","x4","y3")),23) occurs(action(("gripper-left","pr2","x2","y2","xrel1","xrel0","x3","x2","yrel1","y3")),23) occurs(action(("gripper-up","pr2","x2","y2","xrel0","x2","yrel1","yrel0","y3","y2")),24) occurs(action(("unpark","pr2","xrel0","yrel0")),25) SATISFIABLE Models : 1+ Calls : 7 Time : 254.638s (Solving: 105.99s 1st Model: 5.98s Unsat: 6.45s) CPU Time : 251.672s Choices : 81352 (Domain: 62273) Conflicts : 32023 (Analyzed: 32021) Restarts : 123 (Average: 260.33 Last: 317) Model-Level : 503.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 32021 (Deleted: 19699) Binary : 129 (Ratio: 0.40%) Ternary : 91 (Ratio: 0.28%) Conflict : 32021 (Average Length: 3405.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 32021 (Average: 2.30 Max: 300 Sum: 73509) Executed : 31971 (Average: 2.27 Max: 300 Sum: 72708 Ratio: 98.91%) Bounded : 50 (Average: 16.02 Max: 22 Sum: 801 Ratio: 1.09%) Rules : 1389596 (Original: 1388965) Atoms : 1057682 Bodies : 217382 (Original: 216806) Count : 2188 (Original: 2282) Equivalences : 68859 (Atom=Atom: 109 Body=Body: 0 Other: 68750) Tight : Yes Variables : 428344 (Eliminated: 617 Frozen: 427727) Constraints : 5356398 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2205MB Max. Length : 25 steps Sol. Length : 25 steps Models : 2