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-7.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-7.pddl Parsing... Parsing: [0.080s CPU, 0.087s wall-clock] Normalizing task... [0.010s CPU, 0.007s wall-clock] Instantiating... Generating Datalog program... [0.010s CPU, 0.014s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.210s CPU, 0.209s wall-clock] Preparing model... [0.070s CPU, 0.067s wall-clock] Generated 400 rules. Computing model... [6.520s CPU, 6.520s wall-clock] 30399 relevant atoms 31995 auxiliary atoms 62394 final queue length 160559 total queue pushes Completing instantiation... [17.520s CPU, 17.509s wall-clock] Instantiating: [24.400s CPU, 24.393s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.610s CPU, 0.609s 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, 0.652s wall-clock] Building STRIPS to SAS dictionary... [0.010s CPU, 0.003s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.003s wall-clock] Building mutex information... Building mutex information: [0.000s CPU, 0.003s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Processing axioms: [1.090s CPU, 1.093s wall-clock] Translating task: [20.840s CPU, 20.849s wall-clock] 80827 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 2 propositions removed Detecting unreachable propositions: [10.310s CPU, 10.295s wall-clock] Reordering and filtering variables... 373 of 373 variables necessary. 1 of 3 mutex groups necessary. 29843 of 29843 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [6.750s CPU, 6.748s 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: 29843 Translator axioms: 0 Translator task size: 360046 Translator peak memory: 227956 KB Writing output... [5.990s CPU, 6.380s wall-clock] Done! [69.700s CPU, 70.071s wall-clock] planner.py version 0.0.1 Time: 17.00s Memory: 1124MB Iteration 1 Queue: [(0,40,0,True)] Grounded Until: 0 Expected Memory: 1124MB 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]), ('check', [40])] Grounding Time: 27.86s Memory: 2589MB (+1465MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 1 Time : 61.487s (Solving: 0.31s 1st Model: 0.27s Unsat: 0.00s) CPU Time : 58.464s Choices : 7919 (Domain: 6566) Conflicts : 153 (Analyzed: 153) Restarts : 0 Model-Level : 1934.0 Problems : 1 (Average Length: 42.00 Splits: 0) Lemmas : 153 (Deleted: 0) Binary : 4 (Ratio: 2.61%) Ternary : 1 (Ratio: 0.65%) Conflict : 153 (Average Length: 196.4 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 153 (Average: 39.39 Max: 1221 Sum: 6027) Executed : 153 (Average: 39.39 Max: 1221 Sum: 6027 Ratio: 100.00%) Bounded : 0 (Average: 0.00 Max: 0 Sum: 0 Ratio: 0.00%) Rules : 0 Atoms : 0 Bodies : 0 Tight : Yes Variables : 706229 (Eliminated: 0 Frozen: 0) Constraints : 8392607 (Binary: 99.5% Ternary: 0.2% Other: 0.2%) Memory Peak : 3034MB Max. Length : 0 steps Models : 1 [endof: stats after solve call] Solving Time: 1.96s Memory: 2970MB (+381MB) SAT Testing... NOT SERIALIZABLE Testing Time: 28.05s Memory: 3001MB (+31MB) Solving... [start: stats after solve call] Models : 1+ Calls : 2 Time : 87.036s (Solving: 11.54s 1st Model: 11.44s Unsat: 0.00s) CPU Time : 84.024s Choices : 24122 (Domain: 21149) Conflicts : 2161 (Analyzed: 2161) Restarts : 13 (Average: 166.23 Last: 256) Model-Level : 1055.5 Problems : 2 (Average Length: 42.00 Splits: 0) Lemmas : 2161 (Deleted: 1007) Binary : 65 (Ratio: 3.01%) Ternary : 37 (Ratio: 1.71%) Conflict : 2161 (Average Length: 1147.2 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 2161 (Average: 10.82 Max: 1221 Sum: 23381) Executed : 2117 (Average: 9.99 Max: 1221 Sum: 21596 Ratio: 92.37%) Bounded : 44 (Average: 40.57 Max: 42 Sum: 1785 Ratio: 7.63%) Rules : 2395913 (Original: 2395212) Atoms : 77982 Bodies : 1384344 (Original: 1383787) Count : 10027 (Original: 10135) Equivalences : 471664 (Atom=Atom: 225 Body=Body: 0 Other: 471439) Tight : Yes Variables : 727512 (Eliminated: 0 Frozen: 470626) Constraints : 10746713 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 3102MB Max. Length : 0 steps Models : 2 [endof: stats after solve call] Solving Time: 12.89s Memory: 3064MB (+63MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 3064MB (+0MB) Answer: 2 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-down","pr2","x3","y0","y1")),5) occurs(action(("base-right","pr2","x3","x4","y1")),6) occurs(action(("base-down","pr2","x4","y1","y2")),7) occurs(action(("base-down","pr2","x4","y2","y3")),8) occurs(action(("base-down","pr2","x4","y3","y4")),9) occurs(action(("park","pr2")),10) occurs(action(("get-right","pr2","x4","y4","xrel0","x4","yrel0","y4","object1","x5")),11) occurs(action(("gripper-right","pr2","x4","y4","xrel0","xrel1","x4","x5","yrel0","y4")),12) occurs(action(("put-left","pr2","x4","y4","xrel1","x5","yrel0","y4","object1","x4")),13) occurs(action(("finish-object","object1","x4","y4")),14) occurs(action(("get-up","pr2","x4","y4","xrel1","x5","yrel0","y4","object0","y3")),14) occurs(action(("gripper-up","pr2","x4","y4","xrel1","x5","yrel0","yrel-1","y4","y3")),15) occurs(action(("put-left","pr2","x4","y4","xrel1","x5","yrel-1","y3","object0","x4")),16) occurs(action(("finish-object","object0","x4","y3")),17) occurs(action(("gripper-down","pr2","x4","y4","xrel1","x5","yrel-1","yrel0","y3","y4")),17) occurs(action(("get-left","pr2","x4","y4","xrel1","x5","yrel0","y4","object3","x4")),18) occurs(action(("gripper-left","pr2","x4","y4","xrel1","xrel0","x5","x4","yrel0","y4")),19) occurs(action(("put-right","pr2","x4","y4","xrel0","x4","yrel0","y4","object3","x5")),20) occurs(action(("finish-object","object3","x5","y4")),21) occurs(action(("unpark","pr2","xrel0","yrel0")),21) occurs(action(("base-up","pr2","x4","y4","y3")),22) occurs(action(("base-up","pr2","x4","y3","y2")),23) occurs(action(("base-up","pr2","x4","y2","y1")),24) occurs(action(("base-left","pr2","x4","x3","y1")),25) occurs(action(("base-left","pr2","x3","x2","y1")),26) occurs(action(("base-down","pr2","x2","y1","y2")),27) occurs(action(("base-down","pr2","x2","y2","y3")),28) occurs(action(("base-down","pr2","x2","y3","y4")),29) occurs(action(("base-left","pr2","x2","x1","y4")),30) occurs(action(("park","pr2")),31) occurs(action(("gripper-down","pr2","x1","y4","xrel0","x1","yrel0","yrel1","y4","y5")),32) occurs(action(("get-down","pr2","x1","y4","xrel0","x1","yrel1","y5","object2","y6")),33) occurs(action(("gripper-up","pr2","x1","y4","xrel0","x1","yrel1","yrel0","y5","y4")),34) occurs(action(("put-down","pr2","x1","y4","xrel0","x1","yrel0","y4","object2","y5")),35) occurs(action(("finish-object","object2","x1","y5")),36) occurs(action(("unpark","pr2","xrel0","yrel0")),36) occurs(action(("base-left","pr2","x1","x0","y4")),37) occurs(action(("base-down","pr2","x0","y4","y5")),38) occurs(action(("base-down","pr2","x0","y5","y6")),39) occurs(action(("park","pr2")),40) SATISFIABLE Models : 1+ Calls : 2 Time : 87.036s (Solving: 11.54s 1st Model: 11.44s Unsat: 0.00s) CPU Time : 84.024s Choices : 24122 (Domain: 21149) Conflicts : 2161 (Analyzed: 2161) Restarts : 13 (Average: 166.23 Last: 256) Model-Level : 1055.5 Problems : 2 (Average Length: 42.00 Splits: 0) Lemmas : 2161 (Deleted: 1007) Binary : 65 (Ratio: 3.01%) Ternary : 37 (Ratio: 1.71%) Conflict : 2161 (Average Length: 1147.2 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 2161 (Average: 10.82 Max: 1221 Sum: 23381) Executed : 2117 (Average: 9.99 Max: 1221 Sum: 21596 Ratio: 92.37%) Bounded : 44 (Average: 40.57 Max: 42 Sum: 1785 Ratio: 7.63%) Rules : 2395913 (Original: 2395212) Atoms : 77982 Bodies : 1384344 (Original: 1383787) Count : 10027 (Original: 10135) Equivalences : 471664 (Atom=Atom: 225 Body=Body: 0 Other: 471439) Tight : Yes Variables : 727512 (Eliminated: 0 Frozen: 470626) Constraints : 10746713 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 3102MB Max. Length : 40 steps Sol. Length : 40 steps Models : 2