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, 0.083s wall-clock] Normalizing task... [0.010s CPU, 0.006s 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... [0.060s CPU, 0.067s wall-clock] Generated 400 rules. Computing model... [6.590s CPU, 6.579s wall-clock] 30397 relevant atoms 31998 auxiliary atoms 62395 final queue length 160558 total queue pushes Completing instantiation... [17.470s CPU, 17.466s wall-clock] Instantiating: [24.410s CPU, 24.408s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.620s CPU, 0.620s 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, 0.015s wall-clock] Computing fact groups: [0.660s CPU, 0.665s wall-clock] Building STRIPS to SAS dictionary... [0.010s 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, 1.096s wall-clock] Translating task: [21.660s CPU, 21.647s 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: [10.250s CPU, 10.251s 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: [6.750s CPU, 6.749s 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: 228120 KB Writing output... [5.900s CPU, 6.284s wall-clock] Done! [70.380s CPU, 70.750s wall-clock] planner.py version 0.0.1 Time: 16.84s 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... Solving Time: 0.07s Memory: 1124MB (+0MB) UNSAT Iteration Time: 0.08s 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: 1124MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 3.20s Memory: 1124MB (+0MB) Unblocking actions... Solving... Solving Time: 0.34s Memory: 1126MB (+2MB) UNSAT Iteration Time: 4.84s 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: 1128.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 2.96s Memory: 1126MB (+0MB) Unblocking actions... Solving... Solving Time: 0.39s Memory: 1128MB (+2MB) UNSAT Iteration Time: 4.68s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1130.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.78s Memory: 1128MB (+0MB) Unblocking actions... Solving... Solving Time: 0.36s Memory: 1146MB (+18MB) SAT Testing... NOT SERIALIZABLE Testing Time: 18.56s Memory: 1145MB (+-1MB) Solving... Solving Time: 1.27s Memory: 1145MB (+0MB) UNSAT Iteration Time: 25.47s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1163.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 5.93s Memory: 1145MB (+0MB) Unblocking actions... Solving... Solving Time: 44.23s Memory: 1175MB (+30MB) UNKNOWN Iteration Time: 52.01s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 1205.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.05s Memory: 1256MB (+81MB) Unblocking actions... Solving... Solving Time: 51.91s Memory: 1427MB (+171MB) UNKNOWN Iteration Time: 59.50s Iteration 7 Queue: [(6,30,0,True)] Grounded Until: 25 Expected Memory: 1679.0MB Grounding... [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])] Grounding Time: 6.25s Memory: 1536MB (+109MB) Unblocking actions... Solving... Solving Time: 5.77s Memory: 1598MB (+62MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 1598MB (+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 : 164.189s (Solving: 102.41s 1st Model: 5.51s Unsat: 1.04s) CPU Time : 163.088s 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 : 1832MB Max. Length : 30 steps Sol. Length : 30 steps Models : 2