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: [0.070s CPU, 0.068s 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: [0.200s CPU, 0.206s wall-clock] Preparing model... [0.070s CPU, 0.067s wall-clock] Generated 400 rules. Computing model... [6.520s CPU, 6.517s wall-clock] 30397 relevant atoms 31998 auxiliary atoms 62395 final queue length 160558 total queue pushes Completing instantiation... [17.510s CPU, 17.507s wall-clock] Instantiating: [24.380s CPU, 24.381s 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... [0.000s 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, 0.014s wall-clock] Computing fact groups: [0.660s CPU, 0.662s wall-clock] Building STRIPS to SAS dictionary... [0.010s CPU, 0.003s wall-clock] Building dictionary for full mutex groups... [0.000s CPU, 0.003s wall-clock] Building mutex information... Building mutex information: [0.000s CPU, 0.003s wall-clock] Translating task... Processing axioms... Simplifying axioms... [0.000s CPU, 0.000s wall-clock] Processing axioms: [1.080s CPU, 1.086s wall-clock] Translating task: [20.910s CPU, 20.902s 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: [10.340s CPU, 10.334s 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: [6.760s CPU, 6.753s 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: 228168 KB Writing output... [5.940s CPU, 6.329s wall-clock] Done! [69.730s CPU, 70.096s wall-clock] planner.py version 0.0.1 Time: 16.93s Memory: 1124MB Iteration 1 Queue: [(0,35,0,True)] Grounded Until: 0 Expected Memory: 1124MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('step', [31]), ('step', [32]), ('step', [33]), ('step', [34]), ('step', [35]), ('check', [35])] Grounding Time: 23.21s Memory: 2234MB (+1110MB) Unblocking actions... Solving... [start: stats after solve call] Models : 1+ Calls : 1 Time : 55.040s (Solving: 0.37s 1st Model: 0.33s Unsat: 0.00s) CPU Time : 52.160s Choices : 8421 (Domain: 5091) Conflicts : 247 (Analyzed: 247) Restarts : 1 (Average: 247.00 Last: 184) Model-Level : 2004.0 Problems : 1 (Average Length: 37.00 Splits: 0) Lemmas : 247 (Deleted: 0) Binary : 4 (Ratio: 1.62%) Ternary : 4 (Ratio: 1.62%) Conflict : 247 (Average Length: 170.8 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 247 (Average: 26.43 Max: 683 Sum: 6528) Executed : 245 (Average: 26.13 Max: 683 Sum: 6454 Ratio: 98.87%) Bounded : 2 (Average: 37.00 Max: 37 Sum: 74 Ratio: 1.13%) Rules : 0 Atoms : 0 Bodies : 0 Tight : Yes Variables : 615230 (Eliminated: 0 Frozen: 0) Constraints : 6920213 (Binary: 99.5% Ternary: 0.2% Other: 0.2%) Memory Peak : 2658MB Max. Length : 0 steps Models : 1 [endof: stats after solve call] Solving Time: 1.93s Memory: 2594MB (+360MB) SAT Testing... NOT SERIALIZABLE Testing Time: 28.26s Memory: 2738MB (+144MB) Solving... [start: stats after solve call] Models : 1+ Calls : 2 Time : 81.693s (Solving: 14.38s 1st Model: 14.29s Unsat: 0.00s) CPU Time : 78.824s Choices : 41484 (Domain: 25303) Conflicts : 3219 (Analyzed: 3219) Restarts : 15 (Average: 214.60 Last: 763) Model-Level : 1074.5 Problems : 2 (Average Length: 37.00 Splits: 0) Lemmas : 3219 (Deleted: 1057) Binary : 70 (Ratio: 2.17%) Ternary : 44 (Ratio: 1.37%) Conflict : 3219 (Average Length: 5526.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 3219 (Average: 12.50 Max: 1188 Sum: 40229) Executed : 3188 (Average: 12.15 Max: 1188 Sum: 39096 Ratio: 97.18%) Bounded : 31 (Average: 36.55 Max: 37 Sum: 1133 Ratio: 2.82%) Rules : 1950470 (Original: 1949691) Atoms : 74552 Bodies : 1127414 (Original: 1126796) Count : 8318 (Original: 8437) Equivalences : 382004 (Atom=Atom: 234 Body=Body: 0 Other: 381770) Tight : Yes Variables : 633064 (Eliminated: 0 Frozen: 381080) Constraints : 8684904 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2924MB Max. Length : 0 steps Models : 2 [endof: stats after solve call] Solving Time: 15.38s Memory: 2860MB (+122MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 2860MB (+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(("gripper-left","pr2","x4","y4","xrel0","xrel-1","x4","x3","yrel-1","y3")),14) occurs(action(("get-down","pr2","x4","y4","xrel-1","x3","yrel-1","y3","object1","y4")),15) occurs(action(("gripper-down","pr2","x4","y4","xrel-1","x3","yrel-1","yrel0","y3","y4")),16) occurs(action(("put-down","pr2","x4","y4","xrel-1","x3","yrel0","y4","object1","y5")),17) occurs(action(("finish-object","object1","x3","y5")),18) occurs(action(("get-right","pr2","x4","y4","xrel-1","x3","yrel0","y4","object3","x4")),18) occurs(action(("gripper-right","pr2","x4","y4","xrel-1","xrel0","x3","x4","yrel0","y4")),19) occurs(action(("put-down","pr2","x4","y4","xrel0","x4","yrel0","y4","object3","y5")),20) occurs(action(("finish-object","object3","x4","y5")),21) 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) occurs(action(("base-down","pr2","x4","y3","y4")),31) occurs(action(("base-down","pr2","x4","y4","y5")),32) occurs(action(("base-left","pr2","x4","x3","y5")),33) occurs(action(("base-right","pr2","x3","x4","y5")),34) occurs(action(("park","pr2")),35) SATISFIABLE Models : 1+ Calls : 2 Time : 81.693s (Solving: 14.38s 1st Model: 14.29s Unsat: 0.00s) CPU Time : 78.824s Choices : 41484 (Domain: 25303) Conflicts : 3219 (Analyzed: 3219) Restarts : 15 (Average: 214.60 Last: 763) Model-Level : 1074.5 Problems : 2 (Average Length: 37.00 Splits: 0) Lemmas : 3219 (Deleted: 1057) Binary : 70 (Ratio: 2.17%) Ternary : 44 (Ratio: 1.37%) Conflict : 3219 (Average Length: 5526.5 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 3219 (Average: 12.50 Max: 1188 Sum: 40229) Executed : 3188 (Average: 12.15 Max: 1188 Sum: 39096 Ratio: 97.18%) Bounded : 31 (Average: 36.55 Max: 37 Sum: 1133 Ratio: 2.82%) Rules : 1950470 (Original: 1949691) Atoms : 74552 Bodies : 1127414 (Original: 1126796) Count : 8318 (Original: 8437) Equivalences : 382004 (Atom=Atom: 234 Body=Body: 0 Other: 381770) Tight : Yes Variables : 633064 (Eliminated: 0 Frozen: 381080) Constraints : 8684904 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 2924MB Max. Length : 35 steps Sol. Length : 35 steps Models : 2