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: [0.100s CPU, 0.093s wall-clock] Normalizing task... [0.000s CPU, 0.007s wall-clock] Instantiating... Generating Datalog program... [0.020s CPU, 0.016s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.220s CPU, 0.217s wall-clock] Preparing model... [0.060s CPU, 0.066s wall-clock] Generated 400 rules. Computing model... [6.560s CPU, 6.556s wall-clock] 30397 relevant atoms 31998 auxiliary atoms 62395 final queue length 160558 total queue pushes Completing instantiation... [17.580s CPU, 17.569s wall-clock] Instantiating: [24.500s CPU, 24.496s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.610s CPU, 0.612s 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: [0.660s CPU, 0.655s 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, 1.090s wall-clock] Translating task: [20.840s CPU, 20.832s 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: [10.280s CPU, 10.282s 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, 6.746s 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: 228424 KB Writing output... [5.970s CPU, 6.360s wall-clock] Done! [69.770s CPU, 70.131s wall-clock] planner.py version 0.0.1 Time: 16.94s 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 : 20.008s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 17.016s 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: 0.08s 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: 1196MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 3.24s Memory: 1196MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 2 Time : 30.413s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 27.424s 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: 1205MB (+9MB) UNSAT Iteration Time: 10.42s 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: 1214.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 3.03s Memory: 1205MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0 Calls : 3 Time : 46.397s (Solving: 0.00s 1st Model: 0.00s Unsat: 0.00s) CPU Time : 43.416s 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: 11.47s Memory: 1209MB (+4MB) UNSAT Iteration Time: 16.00s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1218.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.86s Memory: 1209MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 4 Time : 65.979s (Solving: 0.08s 1st Model: 0.06s Unsat: 0.00s) CPU Time : 63.004s Choices : 3868 (Domain: 1064) Conflicts : 165 (Analyzed: 164) Restarts : 1 (Average: 164.00 Last: 62) Model-Level : 975.0 Problems : 4 (Average Length: 9.50 Splits: 0) Lemmas : 164 (Deleted: 0) Binary : 16 (Ratio: 9.76%) Ternary : 10 (Ratio: 6.10%) Conflict : 164 (Average Length: 86.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 164 (Average: 17.20 Max: 557 Sum: 2820) Executed : 159 (Average: 16.87 Max: 557 Sum: 2767 Ratio: 98.12%) Bounded : 5 (Average: 10.60 Max: 17 Sum: 53 Ratio: 1.88%) 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: 14.11s Memory: 1231MB (+22MB) SAT Testing... NOT SERIALIZABLE Testing Time: 19.86s Memory: 1840MB (+609MB) Solving... [start: stats after solve call] Models : 0 Calls : 5 Time : 71.531s (Solving: 0.19s 1st Model: 0.06s Unsat: 0.11s) CPU Time : 68.556s Choices : 4450 (Domain: 1625) Conflicts : 341 (Analyzed: 339) Restarts : 2 (Average: 169.50 Last: 74) Model-Level : 975.0 Problems : 5 (Average Length: 11.00 Splits: 0) Lemmas : 339 (Deleted: 0) Binary : 36 (Ratio: 10.62%) Ternary : 21 (Ratio: 6.19%) Conflict : 339 (Average Length: 77.6 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 339 (Average: 10.47 Max: 557 Sum: 3550) Executed : 322 (Average: 9.86 Max: 557 Sum: 3344 Ratio: 94.20%) Bounded : 17 (Average: 12.12 Max: 17 Sum: 206 Ratio: 5.80%) Rules : 1299559 (Original: 1298789) Atoms : 1054150 Bodies : 166788 (Original: 166178) Count : 1819 (Original: 1937) Equivalences : 51558 (Atom=Atom: 163 Body=Body: 0 Other: 51395) Tight : Yes Variables : 230213 (Eliminated: 582 Frozen: 229488) Constraints : 1096019 (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: 0.80s Memory: 1840MB (+0MB) UNSAT Iteration Time: 40.27s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1862.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 6.07s Memory: 1840MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 6 Time : 268.514s (Solving: 163.46s 1st Model: 0.06s Unsat: 0.11s) CPU Time : 265.620s Choices : 56729 (Domain: 43889) Conflicts : 28489 (Analyzed: 28487) Restarts : 102 (Average: 279.28 Last: 204) Model-Level : 975.0 Problems : 6 (Average Length: 12.83 Splits: 0) Lemmas : 28487 (Deleted: 17820) Binary : 118 (Ratio: 0.41%) Ternary : 54 (Ratio: 0.19%) Conflict : 28487 (Average Length: 2232.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 28487 (Average: 1.86 Max: 557 Sum: 52930) Executed : 28431 (Average: 1.82 Max: 557 Sum: 51916 Ratio: 98.08%) Bounded : 56 (Average: 18.11 Max: 22 Sum: 1014 Ratio: 1.92%) Rules : 1299559 (Original: 1298789) Atoms : 1054150 Bodies : 166788 (Original: 166178) Count : 1819 (Original: 1937) Equivalences : 51558 (Atom=Atom: 163 Body=Body: 0 Other: 51395) Tight : Yes Variables : 321127 (Eliminated: 582 Frozen: 320539) Constraints : 2894582 (Binary: 99.2% Ternary: 0.3% Other: 0.5%) Memory Peak : 1995MB Max. Length : 15 steps Models : 1 [endof: stats after solve call] Solving Time: 189.10s Memory: 1995MB (+155MB) UNKNOWN Iteration Time: 197.08s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 2150.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.20s Memory: 1995MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 0+ Calls : 7 Time : 480.759s (Solving: 340.15s 1st Model: 0.06s Unsat: 0.11s) CPU Time : 477.956s Choices : 114222 (Domain: 97647) Conflicts : 56644 (Analyzed: 56642) Restarts : 202 (Average: 280.41 Last: 204) Model-Level : 975.0 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 56642 (Deleted: 45312) Binary : 125 (Ratio: 0.22%) Ternary : 59 (Ratio: 0.10%) Conflict : 56642 (Average Length: 5106.6 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 56642 (Average: 1.89 Max: 557 Sum: 107175) Executed : 56586 (Average: 1.87 Max: 557 Sum: 106161 Ratio: 99.05%) Bounded : 56 (Average: 18.11 Max: 22 Sum: 1014 Ratio: 0.95%) Rules : 1299559 (Original: 1298789) Atoms : 1054150 Bodies : 166788 (Original: 166178) Count : 1819 (Original: 1937) Equivalences : 51558 (Atom=Atom: 163 Body=Body: 0 Other: 51395) Tight : Yes Variables : 414808 (Eliminated: 582 Frozen: 414226) Constraints : 4800657 (Binary: 99.3% Ternary: 0.2% Other: 0.4%) Memory Peak : 2544MB Max. Length : 20 steps Models : 1 [endof: stats after solve call] Solving Time: 204.52s Memory: 2480MB (+485MB) UNKNOWN Iteration Time: 212.35s Iteration 7 Queue: [(6,30,0,True)] Grounded Until: 25 Expected Memory: 2965.0MB Grounding... [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])] Grounding Time: 6.41s Memory: 2480MB (+0MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 8 Time : 517.150s (Solving: 340.69s 1st Model: 0.54s Unsat: 0.11s) CPU Time : 514.364s Choices : 114530 (Domain: 97891) Conflicts : 56758 (Analyzed: 56756) Restarts : 203 (Average: 279.59 Last: 204) Model-Level : 535.5 Problems : 8 (Average Length: 17.00 Splits: 0) Lemmas : 56756 (Deleted: 45312) Binary : 125 (Ratio: 0.22%) Ternary : 59 (Ratio: 0.10%) Conflict : 56756 (Average Length: 5122.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 56756 (Average: 1.89 Max: 557 Sum: 107363) Executed : 56700 (Average: 1.87 Max: 557 Sum: 106349 Ratio: 99.06%) Bounded : 56 (Average: 18.11 Max: 22 Sum: 1014 Ratio: 0.94%) Rules : 1299559 (Original: 1298789) Atoms : 1054150 Bodies : 166788 (Original: 166178) Count : 1819 (Original: 1937) Equivalences : 51558 (Atom=Atom: 163 Body=Body: 0 Other: 51395) Tight : Yes Variables : 508489 (Eliminated: 582 Frozen: 507907) Constraints : 6725922 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2544MB Max. Length : 25 steps Models : 2 [endof: stats after solve call] Solving Time: 28.34s Memory: 2498MB (+18MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2498MB (+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(("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 : 517.150s (Solving: 340.69s 1st Model: 0.54s Unsat: 0.11s) CPU Time : 514.364s Choices : 114530 (Domain: 97891) Conflicts : 56758 (Analyzed: 56756) Restarts : 203 (Average: 279.59 Last: 204) Model-Level : 535.5 Problems : 8 (Average Length: 17.00 Splits: 0) Lemmas : 56756 (Deleted: 45312) Binary : 125 (Ratio: 0.22%) Ternary : 59 (Ratio: 0.10%) Conflict : 56756 (Average Length: 5122.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 56756 (Average: 1.89 Max: 557 Sum: 107363) Executed : 56700 (Average: 1.87 Max: 557 Sum: 106349 Ratio: 99.06%) Bounded : 56 (Average: 18.11 Max: 22 Sum: 1014 Ratio: 0.94%) Rules : 1299559 (Original: 1298789) Atoms : 1054150 Bodies : 166788 (Original: 166178) Count : 1819 (Original: 1937) Equivalences : 51558 (Atom=Atom: 163 Body=Body: 0 Other: 51395) Tight : Yes Variables : 508489 (Eliminated: 582 Frozen: 507907) Constraints : 6725922 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2544MB Max. Length : 30 steps Sol. Length : 30 steps Models : 2