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, 0.070s 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, 0.208s wall-clock] Preparing model... [0.070s CPU, 0.066s wall-clock] Generated 400 rules. Computing model... [6.590s CPU, 6.590s wall-clock] 30443 relevant atoms 31994 auxiliary atoms 62437 final queue length 160694 total queue pushes Completing instantiation... [17.490s CPU, 17.478s wall-clock] Instantiating: [24.440s CPU, 24.430s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.620s CPU, 0.622s 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... [0.020s CPU, 0.014s wall-clock] Computing fact groups: [0.670s CPU, 0.666s 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: [0.010s CPU, 0.003s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Processing axioms: [1.090s CPU, 1.095s wall-clock] Translating task: [20.870s CPU, 20.866s 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, 10.277s 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: [6.760s CPU, 6.760s 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: 228508 KB Writing output... [5.990s CPU, 6.397s wall-clock] Done! [69.740s CPU, 70.133s wall-clock] planner.py version 0.0.1 Time: 17.10s 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 : 20.267s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 17.176s 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: 0.08s 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: 3.30s Memory: 1198MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 2 Time : 31.119s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 28.032s 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: 10.86s 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 : 48.027s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 44.952s 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: 12.25s Memory: 1215MB (+2MB) UNSAT Iteration Time: 16.92s 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: 3.92s Memory: 1215MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 4 Time : 68.994s (Solving: 0.07s 1st Model: 0.04s Unsat: 0.00s) CPU Time : 65.924s Choices : 1329 (Domain: 793) Conflicts : 75 (Analyzed: 74) Restarts : 0 Model-Level : 389.0 Problems : 4 (Average Length: 9.50 Splits: 0) Lemmas : 74 (Deleted: 0) Binary : 14 (Ratio: 18.92%) Ternary : 5 (Ratio: 6.76%) Conflict : 74 (Average Length: 38.3 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 74 (Average: 13.30 Max: 106 Sum: 984) Executed : 69 (Average: 12.93 Max: 106 Sum: 957 Ratio: 97.26%) Bounded : 5 (Average: 5.40 Max: 12 Sum: 27 Ratio: 2.74%) 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: 15.36s Memory: 1235MB (+20MB) SAT Testing... NOT SERIALIZABLE Testing Time: 19.91s Memory: 1854MB (+619MB) Solving... [start: stats after solve call] Models : 0 Calls : 5 Time : 86.593s (Solving: 11.92s 1st Model: 0.04s Unsat: 11.86s) CPU Time : 83.532s Choices : 21655 (Domain: 9771) Conflicts : 5405 (Analyzed: 5403) Restarts : 17 (Average: 317.82 Last: 193) Model-Level : 389.0 Problems : 5 (Average Length: 11.00 Splits: 0) Lemmas : 5403 (Deleted: 0) Binary : 96 (Ratio: 1.78%) Ternary : 46 (Ratio: 0.85%) Conflict : 5403 (Average Length: 910.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 5403 (Average: 3.81 Max: 224 Sum: 20589) Executed : 5343 (Average: 3.64 Max: 224 Sum: 19690 Ratio: 95.63%) Bounded : 60 (Average: 14.98 Max: 17 Sum: 899 Ratio: 4.37%) Rules : 1389587 (Original: 1388953) Atoms : 1057666 Bodies : 217388 (Original: 216809) Count : 2188 (Original: 2282) Equivalences : 68860 (Atom=Atom: 109 Body=Body: 0 Other: 68751) Tight : Yes Variables : 237609 (Eliminated: 620 Frozen: 236939) Constraints : 1497131 (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: 12.79s Memory: 1854MB (+0MB) UNSAT Iteration Time: 53.68s 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: 6.23s Memory: 1854MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 6 Time : 388.394s (Solving: 276.96s 1st Model: 0.04s Unsat: 11.86s) CPU Time : 385.460s Choices : 121416 (Domain: 81542) Conflicts : 53174 (Analyzed: 53172) Restarts : 117 (Average: 454.46 Last: 1047) Model-Level : 389.0 Problems : 6 (Average Length: 12.83 Splits: 0) Lemmas : 53172 (Deleted: 29097) Binary : 170 (Ratio: 0.32%) Ternary : 96 (Ratio: 0.18%) Conflict : 53172 (Average Length: 3332.1 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 53172 (Average: 2.07 Max: 891 Sum: 110069) Executed : 53090 (Average: 2.04 Max: 891 Sum: 108689 Ratio: 98.75%) Bounded : 82 (Average: 16.83 Max: 22 Sum: 1380 Ratio: 1.25%) Rules : 1389587 (Original: 1388953) Atoms : 1057666 Bodies : 217388 (Original: 216809) Count : 2188 (Original: 2282) Equivalences : 68860 (Atom=Atom: 109 Body=Body: 0 Other: 68751) Tight : Yes Variables : 332451 (Eliminated: 620 Frozen: 331825) Constraints : 3391914 (Binary: 99.3% Ternary: 0.2% Other: 0.4%) Memory Peak : 2289MB Max. Length : 15 steps Models : 1 [endof: stats after solve call] Solving Time: 293.76s Memory: 2225MB (+371MB) UNKNOWN Iteration Time: 301.94s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 2596.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.36s Memory: 2225MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 7 Time : 427.519s (Solving: 278.68s 1st Model: 1.70s Unsat: 11.86s) CPU Time : 424.604s Choices : 122810 (Domain: 82554) Conflicts : 53669 (Analyzed: 53667) Restarts : 117 (Average: 458.69 Last: 1047) Model-Level : 242.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 53667 (Deleted: 29097) Binary : 170 (Ratio: 0.32%) Ternary : 97 (Ratio: 0.18%) Conflict : 53667 (Average Length: 3449.3 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 53667 (Average: 2.08 Max: 891 Sum: 111394) Executed : 53585 (Average: 2.05 Max: 891 Sum: 110014 Ratio: 98.76%) Bounded : 82 (Average: 16.83 Max: 22 Sum: 1380 Ratio: 1.24%) Rules : 1389587 (Original: 1388953) Atoms : 1057666 Bodies : 217388 (Original: 216809) Count : 2188 (Original: 2282) Equivalences : 68860 (Atom=Atom: 109 Body=Body: 0 Other: 68751) Tight : Yes Variables : 428347 (Eliminated: 620 Frozen: 427727) Constraints : 5371582 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2331MB Max. Length : 20 steps Models : 2 [endof: stats after solve call] Solving Time: 31.08s Memory: 2331MB (+106MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2331MB (+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-down","pr2","x2","y2","xrel0","x2","yrel0","yrel1","y2","y3")),17) occurs(action(("gripper-left","pr2","x2","y2","xrel0","xrel-1","x2","x1","yrel1","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 : 427.519s (Solving: 278.68s 1st Model: 1.70s Unsat: 11.86s) CPU Time : 424.604s Choices : 122810 (Domain: 82554) Conflicts : 53669 (Analyzed: 53667) Restarts : 117 (Average: 458.69 Last: 1047) Model-Level : 242.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 53667 (Deleted: 29097) Binary : 170 (Ratio: 0.32%) Ternary : 97 (Ratio: 0.18%) Conflict : 53667 (Average Length: 3449.3 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 53667 (Average: 2.08 Max: 891 Sum: 111394) Executed : 53585 (Average: 2.05 Max: 891 Sum: 110014 Ratio: 98.76%) Bounded : 82 (Average: 16.83 Max: 22 Sum: 1380 Ratio: 1.24%) Rules : 1389587 (Original: 1388953) Atoms : 1057666 Bodies : 217388 (Original: 216809) Count : 2188 (Original: 2282) Equivalences : 68860 (Atom=Atom: 109 Body=Body: 0 Other: 68751) Tight : Yes Variables : 428347 (Eliminated: 620 Frozen: 427727) Constraints : 5371582 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2331MB Max. Length : 25 steps Sol. Length : 25 steps Models : 2