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: [0.080s CPU, 0.084s 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: [0.200s CPU, 0.209s wall-clock]
Preparing model... [0.070s CPU, 0.068s wall-clock]
Generated 400 rules.
Computing model... [6.560s CPU, 6.555s wall-clock]
30397 relevant atoms
31998 auxiliary atoms
62395 final queue length
160558 total queue pushes
Completing instantiation... [17.520s CPU, 17.517s wall-clock]
Instantiating: [24.440s CPU, 24.437s wall-clock]
Computing fact groups...
Finding invariants...
41 initial candidates
Finding invariants: [0.620s CPU, 0.619s 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... [0.020s CPU, 0.014s wall-clock]
Computing fact groups: [0.670s CPU, 0.664s 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: [1.090s CPU, 1.095s wall-clock]
Translating task: [20.920s CPU, 20.913s 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, 10.312s 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, 6.770s 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: 228348 KB
Writing output... [6.010s CPU, 6.406s wall-clock]
Done! [69.880s CPU, 70.253s wall-clock]
planner.py version 0.0.1

Time:	 16.99s
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         : 20.220s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s)
CPU Time     : 17.064s

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:	 0.09s
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:	 3.26s
Memory:		 1196MB (+0MB)
Unblocking actions...
Solving...
[start: stats after solve call]

Models       : 0
Calls        : 2
Time         : 25.156s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s)
CPU Time     : 22.000s

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:    0)
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:	 0.34s
Memory:		 1198MB (+2MB)
UNSAT
Iteration Time:	 4.95s

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: 1200.0MB
Grounding...	 [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])]
Grounding Time:	 3.01s
Memory:		 1198MB (+0MB)
Unblocking actions...
Solving...
[start: stats after solve call]

Models       : 0
Calls        : 3
Time         : 29.940s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s)
CPU Time     : 26.788s

Choices      : 51       (Domain: 42)
Conflicts    : 13       (Analyzed: 12)
Restarts     : 0       
Problems     : 3        (Average Length: 7.00 Splits: 0)
Lemmas       : 12       (Deleted: 0)
  Binary     : 8        (Ratio:  66.67%)
  Ternary    : 1        (Ratio:   8.33%)
  Conflict   : 12       (Average Length:    2.1 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 12       (Average:  6.50 Max:  18 Sum:     78)
  Executed   : 7        (Average:  4.25 Max:  18 Sum:     51 Ratio:  65.38%)
  Bounded    : 5        (Average:  5.40 Max:  12 Sum:     27 Ratio:  34.62%)

Rules        : 992992  
Atoms        : 992992  
Bodies       : 1        (Original: 0)
Tight        : Yes
Variables    : 146372   (Eliminated:    0 Frozen:    0)
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:	 0.40s
Memory:		 1200MB (+2MB)
UNSAT
Iteration Time:	 4.79s

Iteration 4
Queue:		 [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)]
Grounded Until:	 10
Expected Memory: 1202.0MB
Grounding...	 [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])]
Grounding Time:	 3.84s
Memory:		 1200MB (+0MB)
Unblocking actions...
Solving...
[start: stats after solve call]

Models       : 1+
Calls        : 4
Time         : 35.684s (Solving: 0.05s 1st Model: 0.03s Unsat: 0.00s)
CPU Time     : 32.536s

Choices      : 701      (Domain: 326)
Conflicts    : 67       (Analyzed: 66)
Restarts     : 0       
Model-Level  : 250.0   
Problems     : 4        (Average Length: 9.50 Splits: 0)
Lemmas       : 66       (Deleted: 0)
  Binary     : 8        (Ratio:  12.12%)
  Ternary    : 3        (Ratio:   4.55%)
  Conflict   : 66       (Average Length:   67.1 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 66       (Average:  7.50 Max:  54 Sum:    495)
  Executed   : 61       (Average:  7.09 Max:  54 Sum:    468 Ratio:  94.55%)
  Bounded    : 5        (Average:  5.40 Max:  12 Sum:     27 Ratio:   5.45%)

Rules        : 992992  
Atoms        : 992992  
Bodies       : 1        (Original: 0)
Tight        : Yes
Variables    : 224859   (Eliminated:    0 Frozen:    0)
Constraints  : 840986   (Binary:  99.1% Ternary:   0.5% Other:   0.4%)

Memory Peak  : 1260MB
Max. Length  : 10 steps
Models       : 1

[endof: stats after solve call]
Solving Time:	 0.37s
Memory:		 1220MB (+20MB)
SAT
Testing...
NOT SERIALIZABLE
Testing Time:	 19.81s
Memory:		 1902MB (+682MB)
Solving...
[start: stats after solve call]

Models       : 0
Calls        : 5
Time         : 41.777s (Solving: 1.08s 1st Model: 0.03s Unsat: 1.03s)
CPU Time     : 38.632s

Choices      : 2125     (Domain: 1538)
Conflicts    : 640      (Analyzed: 638)
Restarts     : 7        (Average: 91.14 Last: 60)
Model-Level  : 250.0   
Problems     : 5        (Average Length: 11.00 Splits: 0)
Lemmas       : 638      (Deleted: 0)
  Binary     : 65       (Ratio:  10.19%)
  Ternary    : 35       (Ratio:   5.49%)
  Conflict   : 638      (Average Length:   81.2 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 638      (Average:  3.31 Max:  54 Sum:   2114)
  Executed   : 618      (Average:  2.96 Max:  54 Sum:   1886 Ratio:  89.21%)
  Bounded    : 20       (Average: 11.40 Max:  17 Sum:    228 Ratio:  10.79%)

Rules        : 1299766  (Original: 1298996)
Atoms        : 1054149 
Bodies       : 166975   (Original: 166365)
  Count      : 1820     (Original: 1938)
Equivalences : 51583    (Atom=Atom: 164 Body=Body: 0 Other: 51419)
Tight        : Yes
Variables    : 229509   (Eliminated:    0 Frozen: 51081)
Constraints  : 1097714  (Binary:  98.9% Ternary:   0.4% Other:   0.7%)

Memory Peak  : 1902MB
Max. Length  : 10 steps
Models       : 1

[endof: stats after solve call]
Solving Time:	 1.30s
Memory:		 1902MB (+0MB)
UNSAT
Iteration Time:	 26.85s

Iteration 5
Queue:		 [(4,20,0,True), (5,25,0,True), (6,30,0,True)]
Grounded Until:	 15
Expected Memory: 1922.0MB
Grounding...	 [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])]
Grounding Time:	 6.02s
Memory:		 1902MB (+0MB)
Unblocking actions...
Solving...
[start: stats after solve call]

Models       : 0+
Calls        : 6
Time         : 93.737s (Solving: 44.96s 1st Model: 0.03s Unsat: 1.03s)
CPU Time     : 90.612s

Choices      : 25773    (Domain: 19721)
Conflicts    : 9814     (Analyzed: 9812)
Restarts     : 107      (Average: 91.70 Last: 81)
Model-Level  : 250.0   
Problems     : 6        (Average Length: 12.83 Splits: 0)
Lemmas       : 9812     (Deleted: 6912)
  Binary     : 115      (Ratio:   1.17%)
  Ternary    : 66       (Ratio:   0.67%)
  Conflict   : 9812     (Average Length: 1242.6 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 9812     (Average:  2.46 Max: 196 Sum:  24157)
  Executed   : 9764     (Average:  2.38 Max: 196 Sum:  23321 Ratio:  96.54%)
  Bounded    : 48       (Average: 17.42 Max:  22 Sum:    836 Ratio:   3.46%)

Rules        : 1299766  (Original: 1298996)
Atoms        : 1054149 
Bodies       : 166975   (Original: 166365)
  Count      : 1820     (Original: 1938)
Equivalences : 51583    (Atom=Atom: 164 Body=Body: 0 Other: 51419)
Tight        : Yes
Variables    : 320423   (Eliminated:    0 Frozen: 132038)
Constraints  : 2875774  (Binary:  99.3% Ternary:   0.3% Other:   0.5%)

Memory Peak  : 1919MB
Max. Length  : 15 steps
Models       : 1

[endof: stats after solve call]
Solving Time:	 44.08s
Memory:		 1908MB (+6MB)
UNKNOWN
Iteration Time:	 52.00s

Iteration 6
Queue:		 [(5,25,0,True), (6,30,0,True)]
Grounded Until:	 20
Expected Memory: 1928.0MB
Grounding...	 [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])]
Grounding Time:	 6.19s
Memory:		 1908MB (+0MB)
Unblocking actions...
Solving...
[start: stats after solve call]

Models       : 0+
Calls        : 7
Time         : 153.099s (Solving: 96.37s 1st Model: 0.03s Unsat: 1.03s)
CPU Time     : 150.000s

Choices      : 52861    (Domain: 41664)
Conflicts    : 18664    (Analyzed: 18662)
Restarts     : 207      (Average: 90.15 Last: 90)
Model-Level  : 250.0   
Problems     : 7        (Average Length: 14.86 Splits: 0)
Lemmas       : 18662    (Deleted: 15901)
  Binary     : 127      (Ratio:   0.68%)
  Ternary    : 70       (Ratio:   0.38%)
  Conflict   : 18662    (Average Length: 5340.9 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 18662    (Average:  2.52 Max: 196 Sum:  47108)
  Executed   : 18607    (Average:  2.47 Max: 196 Sum:  46083 Ratio:  97.82%)
  Bounded    : 55       (Average: 18.64 Max:  27 Sum:   1025 Ratio:   2.18%)

Rules        : 1299766  (Original: 1298996)
Atoms        : 1054149 
Bodies       : 166975   (Original: 166365)
  Count      : 1820     (Original: 1938)
Equivalences : 51583    (Atom=Atom: 164 Body=Body: 0 Other: 51419)
Tight        : Yes
Variables    : 414104   (Eliminated:    0 Frozen: 215713)
Constraints  : 4781450  (Binary:  99.3% Ternary:   0.2% Other:   0.4%)

Memory Peak  : 2123MB
Max. Length  : 20 steps
Models       : 1

[endof: stats after solve call]
Solving Time:	 51.62s
Memory:		 2059MB (+151MB)
UNKNOWN
Iteration Time:	 59.40s

Iteration 7
Queue:		 [(6,30,0,True)]
Grounded Until:	 25
Expected Memory: 2210.0MB
Grounding...	 [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])]
Grounding Time:	 6.39s
Memory:		 2059MB (+0MB)
Unblocking actions...
Solving...
[start: stats after solve call]

Models       : 1+
Calls        : 8
Time         : 166.818s (Solving: 101.86s 1st Model: 5.45s Unsat: 1.03s)
CPU Time     : 163.724s

Choices      : 58718    (Domain: 45510)
Conflicts    : 19604    (Analyzed: 19602)
Restarts     : 217      (Average: 90.33 Last: 90)
Model-Level  : 177.5   
Problems     : 8        (Average Length: 17.00 Splits: 0)
Lemmas       : 19602    (Deleted: 15901)
  Binary     : 130      (Ratio:   0.66%)
  Ternary    : 71       (Ratio:   0.36%)
  Conflict   : 19602    (Average Length: 5644.9 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 19602    (Average:  2.68 Max: 204 Sum:  52449)
  Executed   : 19547    (Average:  2.62 Max: 204 Sum:  51424 Ratio:  98.05%)
  Bounded    : 55       (Average: 18.64 Max:  27 Sum:   1025 Ratio:   1.95%)

Rules        : 1299766  (Original: 1298996)
Atoms        : 1054149 
Bodies       : 166975   (Original: 166365)
  Count      : 1820     (Original: 1938)
Equivalences : 51583    (Atom=Atom: 164 Body=Body: 0 Other: 51419)
Tight        : Yes
Variables    : 507785   (Eliminated:    0 Frozen: 299388)
Constraints  : 6706533  (Binary:  99.4% Ternary:   0.2% Other:   0.4%)

Memory Peak  : 2123MB
Max. Length  : 25 steps
Models       : 2

[endof: stats after solve call]
Solving Time:	 5.72s
Memory:		 2059MB (+0MB)
SAT
Testing...
SERIALIZABLE?
Testing Time:	 0.00s
Memory:		 2059MB (+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-right","pr2","x3","x4","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-down","pr2","x4","y4","xrel0","x4","yrel0","y4","object2","y5")),11) occurs(action(("gripper-up","pr2","x4","y4","xrel0","x4","yrel0","yrel-1","y4","y3")),12) occurs(action(("put-down","pr2","x4","y4","xrel0","x4","yrel-1","y3","object2","y4")),13) occurs(action(("finish-object","object2","x4","y4")),14) occurs(action(("get-down","pr2","x4","y4","xrel0","x4","yrel-1","y3","object3","y4")),14) occurs(action(("gripper-down","pr2","x4","y4","xrel0","x4","yrel-1","yrel0","y3","y4")),15) occurs(action(("put-down","pr2","x4","y4","xrel0","x4","yrel0","y4","object3","y5")),16) occurs(action(("finish-object","object3","x4","y5")),17) occurs(action(("get-left","pr2","x4","y4","xrel0","x4","yrel0","y4","object1","x3")),17) occurs(action(("gripper-left","pr2","x4","y4","xrel0","xrel-1","x4","x3","yrel0","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(("base-left","pr2","x4","x3","y3")),23) occurs(action(("base-up","pr2","x3","y3","y2")),24) occurs(action(("park","pr2")),25) occurs(action(("get-up","pr2","x3","y2","xrel0","x3","yrel0","y2","object0","y1")),26) occurs(action(("gripper-down","pr2","x3","y2","xrel0","x3","yrel0","yrel1","y2","y3")),27) occurs(action(("put-down","pr2","x3","y2","xrel0","x3","yrel1","y3","object0","y4")),28) occurs(action(("finish-object","object0","x3","y4")),29) occurs(action(("gripper-up","pr2","x3","y2","xrel0","x3","yrel1","yrel0","y3","y2")),29) occurs(action(("unpark","pr2","xrel0","yrel0")),30)
SATISFIABLE

Models       : 1+
Calls        : 8
Time         : 166.818s (Solving: 101.86s 1st Model: 5.45s Unsat: 1.03s)
CPU Time     : 163.724s

Choices      : 58718    (Domain: 45510)
Conflicts    : 19604    (Analyzed: 19602)
Restarts     : 217      (Average: 90.33 Last: 90)
Model-Level  : 177.5   
Problems     : 8        (Average Length: 17.00 Splits: 0)
Lemmas       : 19602    (Deleted: 15901)
  Binary     : 130      (Ratio:   0.66%)
  Ternary    : 71       (Ratio:   0.36%)
  Conflict   : 19602    (Average Length: 5644.9 Ratio: 100.00%) 
  Loop       : 0        (Average Length:    0.0 Ratio:   0.00%) 
  Other      : 0        (Average Length:    0.0 Ratio:   0.00%) 
Backjumps    : 19602    (Average:  2.68 Max: 204 Sum:  52449)
  Executed   : 19547    (Average:  2.62 Max: 204 Sum:  51424 Ratio:  98.05%)
  Bounded    : 55       (Average: 18.64 Max:  27 Sum:   1025 Ratio:   1.95%)

Rules        : 1299766  (Original: 1298996)
Atoms        : 1054149 
Bodies       : 166975   (Original: 166365)
  Count      : 1820     (Original: 1938)
Equivalences : 51583    (Atom=Atom: 164 Body=Body: 0 Other: 51419)
Tight        : Yes
Variables    : 507785   (Eliminated:    0 Frozen: 299388)
Constraints  : 6706533  (Binary:  99.4% Ternary:   0.2% Other:   0.4%)

Memory Peak  : 2123MB
Max. Length  : 30 steps
Sol. Length  : 30 steps
Models       : 2


