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-3.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-3.pddl Parsing... Parsing: [0.090s CPU, 0.087s wall-clock] Normalizing task... [0.000s CPU, 0.007s wall-clock] Instantiating... Generating Datalog program... [0.020s CPU, 0.015s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.210s CPU, 0.208s wall-clock] Preparing model... [0.060s CPU, 0.066s wall-clock] Generated 400 rules. Computing model... [6.620s CPU, 6.618s wall-clock] 30397 relevant atoms 31998 auxiliary atoms 62395 final queue length 160558 total queue pushes Completing instantiation... [17.510s CPU, 17.507s wall-clock] Instantiating: [24.500s CPU, 24.490s 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... [0.000s CPU, 0.001s wall-clock] Collecting mutex groups... [0.000s CPU, 0.000s wall-clock] Choosing groups... 371 uncovered facts Choosing groups: [0.010s CPU, 0.001s wall-clock] Building translation key... [0.020s CPU, 0.015s wall-clock] Computing fact groups: [0.660s CPU, 0.660s wall-clock] Building STRIPS to SAS dictionary... [0.000s 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: [1.100s CPU, 1.097s wall-clock] Translating task: [20.920s CPU, 20.893s 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: [10.300s CPU, 10.307s wall-clock] Reordering and filtering variables... 373 of 373 variables necessary. 1 of 3 mutex groups necessary. 29842 of 29842 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [6.780s CPU, 6.775s 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: 29842 Translator axioms: 0 Translator task size: 360042 Translator peak memory: 228168 KB Writing output... [5.900s CPU, 6.293s wall-clock] Done! [69.800s CPU, 70.167s wall-clock] planner.py version 0.0.1 Time: 16.89s Memory: 1124MB 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 : 20.049s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 16.964s 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 : 992992 Atoms : 992992 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 : 1260MB Max. Length : 0 steps Models : 0 [endof: stats after solve call] Solving Time: 0.08s Memory: 1196MB (+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: 1196MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 3.25s Memory: 1196MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 2 Time : 30.478s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 27.388s 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 : 992992 Atoms : 992992 Bodies : 1 (Original: 0) Tight : Yes Variables : 72980 (Eliminated: 0 Frozen: 72980) Constraints : 3856 (Binary: 91.7% Ternary: 5.4% Other: 2.9%) Memory Peak : 1260MB Max. Length : 0 steps Models : 0 [endof: stats after solve call] Solving Time: 5.84s Memory: 1206MB (+10MB) UNSAT Iteration Time: 10.43s 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: 1216.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 3.06s Memory: 1206MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 3 Time : 46.529s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 43.432s Choices : 7 (Domain: 7) Conflicts : 3 (Analyzed: 2) Restarts : 0 Problems : 3 (Average Length: 7.00 Splits: 0) Lemmas : 2 (Deleted: 0) Binary : 2 (Ratio: 100.00%) Ternary : 0 (Ratio: 0.00%) Conflict : 2 (Average Length: 2.0 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 2 (Average: 4.50 Max: 7 Sum: 9) Executed : 0 (Average: 3.50 Max: 6 Sum: 7 Ratio: 77.78%) Bounded : 2 (Average: 1.00 Max: 1 Sum: 2 Ratio: 22.22%) Rules : 992992 Atoms : 992992 Bodies : 1 (Original: 0) Tight : Yes Variables : 146372 (Eliminated: 0 Frozen: 146372) Constraints : 145750 (Binary: 98.2% Ternary: 0.9% Other: 0.9%) Memory Peak : 1260MB Max. Length : 5 steps Models : 0 [endof: stats after solve call] Solving Time: 11.48s Memory: 1209MB (+3MB) UNSAT Iteration Time: 16.05s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1219.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.88s Memory: 1209MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 4 Time : 66.139s (Solving: 0.07s 1st Model: 0.04s Unsat: 0.00s) CPU Time : 63.028s Choices : 2161 (Domain: 854) Conflicts : 125 (Analyzed: 124) Restarts : 0 Model-Level : 546.0 Problems : 4 (Average Length: 9.50 Splits: 0) Lemmas : 124 (Deleted: 0) Binary : 14 (Ratio: 11.29%) Ternary : 7 (Ratio: 5.65%) Conflict : 124 (Average Length: 76.3 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 124 (Average: 13.31 Max: 231 Sum: 1651) Executed : 121 (Average: 13.16 Max: 231 Sum: 1632 Ratio: 98.85%) Bounded : 3 (Average: 6.33 Max: 17 Sum: 19 Ratio: 1.15%) Rules : 992992 Atoms : 992992 Bodies : 1 (Original: 0) Tight : Yes Variables : 225565 (Eliminated: 0 Frozen: 225565) Constraints : 943456 (Binary: 99.2% Ternary: 0.4% Other: 0.4%) Memory Peak : 1260MB Max. Length : 10 steps Models : 1 [endof: stats after solve call] Solving Time: 14.09s Memory: 1242MB (+33MB) SAT Testing... NOT SERIALIZABLE Testing Time: 19.81s Memory: 1840MB (+598MB) Solving... [start: stats after solve call] Models : 0 Calls : 5 Time : 71.673s (Solving: 0.20s 1st Model: 0.04s Unsat: 0.13s) CPU Time : 68.564s Choices : 2714 (Domain: 1341) Conflicts : 286 (Analyzed: 284) Restarts : 0 Model-Level : 546.0 Problems : 5 (Average Length: 11.00 Splits: 0) Lemmas : 284 (Deleted: 0) Binary : 32 (Ratio: 11.27%) Ternary : 13 (Ratio: 4.58%) Conflict : 284 (Average Length: 67.2 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 284 (Average: 8.18 Max: 231 Sum: 2322) Executed : 273 (Average: 7.69 Max: 231 Sum: 2185 Ratio: 94.10%) Bounded : 11 (Average: 12.45 Max: 17 Sum: 137 Ratio: 5.90%) Rules : 1299923 (Original: 1299144) Atoms : 1054180 Bodies : 167091 (Original: 166472) Count : 1820 (Original: 1938) Equivalences : 51596 (Atom=Atom: 165 Body=Body: 0 Other: 51431) Tight : Yes Variables : 230225 (Eliminated: 590 Frozen: 229492) Constraints : 1097010 (Binary: 98.9% Ternary: 0.4% Other: 0.7%) Memory Peak : 1896MB Max. Length : 10 steps Models : 1 [endof: stats after solve call] Solving Time: 0.81s Memory: 1840MB (+0MB) UNSAT Iteration Time: 40.23s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1873.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 6.06s Memory: 1840MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 6 Time : 200.805s (Solving: 95.63s 1st Model: 0.04s Unsat: 95.56s) CPU Time : 197.748s Choices : 42701 (Domain: 25854) Conflicts : 15034 (Analyzed: 15031) Restarts : 23 (Average: 653.52 Last: 5742) Model-Level : 546.0 Problems : 6 (Average Length: 12.83 Splits: 0) Lemmas : 15031 (Deleted: 5067) Binary : 99 (Ratio: 0.66%) Ternary : 37 (Ratio: 0.25%) Conflict : 15031 (Average Length: 2028.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 15031 (Average: 2.67 Max: 523 Sum: 40163) Executed : 14993 (Average: 2.63 Max: 523 Sum: 39486 Ratio: 98.31%) Bounded : 38 (Average: 17.82 Max: 22 Sum: 677 Ratio: 1.69%) Rules : 1299923 (Original: 1299144) Atoms : 1054180 Bodies : 167091 (Original: 166472) Count : 1820 (Original: 1938) Equivalences : 51596 (Atom=Atom: 165 Body=Body: 0 Other: 51431) Tight : Yes Variables : 321139 (Eliminated: 590 Frozen: 320543) Constraints : 2895661 (Binary: 99.2% Ternary: 0.3% Other: 0.5%) Memory Peak : 1984MB Max. Length : 15 steps Models : 1 [endof: stats after solve call] Solving Time: 121.23s Memory: 1920MB (+80MB) UNSAT Iteration Time: 129.20s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 2000.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.18s Memory: 1920MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 7 Time : 561.381s (Solving: 420.70s 1st Model: 0.04s Unsat: 95.56s) CPU Time : 558.472s Choices : 132909 (Domain: 99448) Conflicts : 56984 (Analyzed: 56981) Restarts : 123 (Average: 463.26 Last: 5742) Model-Level : 546.0 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 56981 (Deleted: 38297) Binary : 122 (Ratio: 0.21%) Ternary : 45 (Ratio: 0.08%) Conflict : 56981 (Average Length: 7861.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 56981 (Average: 2.17 Max: 632 Sum: 123832) Executed : 56936 (Average: 2.16 Max: 632 Sum: 122974 Ratio: 99.31%) Bounded : 45 (Average: 19.07 Max: 27 Sum: 858 Ratio: 0.69%) Rules : 1299923 (Original: 1299144) Atoms : 1054180 Bodies : 167091 (Original: 166472) Count : 1820 (Original: 1938) Equivalences : 51596 (Atom=Atom: 165 Body=Body: 0 Other: 51431) Tight : Yes Variables : 414820 (Eliminated: 590 Frozen: 414230) Constraints : 4812162 (Binary: 99.3% Ternary: 0.2% Other: 0.4%) Memory Peak : 2916MB Max. Length : 20 steps Models : 1 [endof: stats after solve call] Solving Time: 352.96s Memory: 2852MB (+932MB) UNKNOWN Iteration Time: 360.74s Iteration 7 Queue: [(6,30,0,True)] Grounded Until: 25 Expected Memory: 3784.0MB Grounding... [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])] Grounding Time: 6.41s Memory: 2852MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 8 Time : 597.769s (Solving: 421.12s 1st Model: 0.39s Unsat: 95.56s) CPU Time : 594.876s Choices : 133200 (Domain: 99670) Conflicts : 57092 (Analyzed: 57089) Restarts : 123 (Average: 464.14 Last: 5742) Model-Level : 323.0 Problems : 8 (Average Length: 17.00 Splits: 0) Lemmas : 57089 (Deleted: 38297) Binary : 122 (Ratio: 0.21%) Ternary : 45 (Ratio: 0.08%) Conflict : 57089 (Average Length: 7866.0 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 57089 (Average: 2.17 Max: 632 Sum: 124055) Executed : 57044 (Average: 2.16 Max: 632 Sum: 123197 Ratio: 99.31%) Bounded : 45 (Average: 19.07 Max: 27 Sum: 858 Ratio: 0.69%) Rules : 1299923 (Original: 1299144) Atoms : 1054180 Bodies : 167091 (Original: 166472) Count : 1820 (Original: 1938) Equivalences : 51596 (Atom=Atom: 165 Body=Body: 0 Other: 51431) Tight : Yes Variables : 508501 (Eliminated: 590 Frozen: 507911) Constraints : 6737371 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2916MB Max. Length : 25 steps Models : 2 [endof: stats after solve call] Solving Time: 28.23s Memory: 2871MB (+19MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2871MB (+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-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(("base-down","pr2","x3","y2","y3")),7) occurs(action(("base-down","pr2","x3","y3","y4")),8) occurs(action(("base-right","pr2","x3","x4","y4")),9) occurs(action(("park","pr2")),10) occurs(action(("get-down","pr2","x4","y4","xrel0","x4","yrel0","y4","object2","y5")),11) occurs(action(("gripper-down","pr2","x4","y4","xrel0","x4","yrel0","yrel1","y4","y5")),12) occurs(action(("put-up","pr2","x4","y4","xrel0","x4","yrel1","y5","object2","y4")),13) occurs(action(("finish-object","object2","x4","y4")),14) occurs(action(("get-up","pr2","x4","y4","xrel0","x4","yrel1","y5","object3","y4")),14) occurs(action(("gripper-left","pr2","x4","y4","xrel0","xrel-1","x4","x3","yrel1","y5")),15) occurs(action(("put-right","pr2","x4","y4","xrel-1","x3","yrel1","y5","object3","x4")),16) occurs(action(("finish-object","object3","x4","y5")),17) occurs(action(("get-up","pr2","x4","y4","xrel-1","x3","yrel1","y5","object1","y4")),17) occurs(action(("gripper-up","pr2","x4","y4","xrel-1","x3","yrel1","yrel0","y5","y4")),18) occurs(action(("put-down","pr2","x4","y4","xrel-1","x3","yrel0","y4","object1","y5")),19) occurs(action(("finish-object","object1","x3","y5")),20) occurs(action(("gripper-right","pr2","x4","y4","xrel-1","xrel0","x3","x4","yrel0","y4")),20) occurs(action(("unpark","pr2","xrel0","yrel0")),21) occurs(action(("base-up","pr2","x4","y4","y3")),22) occurs(action(("park","pr2")),23) occurs(action(("gripper-up","pr2","x4","y3","xrel0","x4","yrel0","yrel-1","y3","y2")),24) occurs(action(("gripper-left","pr2","x4","y3","xrel0","xrel-1","x4","x3","yrel-1","y2")),25) occurs(action(("get-up","pr2","x4","y3","xrel-1","x3","yrel-1","y2","object0","y1")),26) occurs(action(("gripper-down","pr2","x4","y3","xrel-1","x3","yrel-1","yrel0","y2","y3")),27) occurs(action(("put-down","pr2","x4","y3","xrel-1","x3","yrel0","y3","object0","y4")),28) occurs(action(("finish-object","object0","x3","y4")),29) occurs(action(("gripper-right","pr2","x4","y3","xrel-1","xrel0","x3","x4","yrel0","y3")),29) occurs(action(("unpark","pr2","xrel0","yrel0")),30) SATISFIABLE Models : 1+ Calls : 8 Time : 597.769s (Solving: 421.12s 1st Model: 0.39s Unsat: 95.56s) CPU Time : 594.876s Choices : 133200 (Domain: 99670) Conflicts : 57092 (Analyzed: 57089) Restarts : 123 (Average: 464.14 Last: 5742) Model-Level : 323.0 Problems : 8 (Average Length: 17.00 Splits: 0) Lemmas : 57089 (Deleted: 38297) Binary : 122 (Ratio: 0.21%) Ternary : 45 (Ratio: 0.08%) Conflict : 57089 (Average Length: 7866.0 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 57089 (Average: 2.17 Max: 632 Sum: 124055) Executed : 57044 (Average: 2.16 Max: 632 Sum: 123197 Ratio: 99.31%) Bounded : 45 (Average: 19.07 Max: 27 Sum: 858 Ratio: 0.69%) Rules : 1299923 (Original: 1299144) Atoms : 1054180 Bodies : 167091 (Original: 166472) Count : 1820 (Original: 1938) Equivalences : 51596 (Atom=Atom: 165 Body=Body: 0 Other: 51431) Tight : Yes Variables : 508501 (Eliminated: 590 Frozen: 507911) Constraints : 6737371 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2916MB Max. Length : 30 steps Sol. Length : 30 steps Models : 2