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