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-8.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-8.pddl Parsing... Parsing: [0.090s CPU, 0.087s wall-clock] Normalizing task... [0.000s CPU, 0.007s wall-clock] Instantiating... Generating Datalog program... [0.020s CPU, 0.015s wall-clock] Normalizing Datalog program... Normalizing Datalog program: [0.210s CPU, 0.212s wall-clock] Preparing model... [0.070s CPU, 0.066s wall-clock] Generated 400 rules. Computing model... [6.510s CPU, 6.510s wall-clock] 30443 relevant atoms 31994 auxiliary atoms 62437 final queue length 160694 total queue pushes Completing instantiation... [17.420s CPU, 17.417s wall-clock] Instantiating: [24.310s CPU, 24.296s wall-clock] Computing fact groups... Finding invariants... 41 initial candidates Finding invariants: [0.610s CPU, 0.607s 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: [0.650s CPU, 0.651s wall-clock] Building STRIPS to SAS dictionary... [0.000s CPU, 0.003s wall-clock] Building dictionary for full mutex groups... [0.010s 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: [1.090s CPU, 1.091s wall-clock] Translating task: [20.830s CPU, 20.816s wall-clock] 80875 effect conditions simplified 0 implied preconditions added Detecting unreachable propositions... 0 operators removed 0 axioms removed 2 propositions removed Detecting unreachable propositions: [10.290s CPU, 10.285s wall-clock] Reordering and filtering variables... 373 of 373 variables necessary. 1 of 3 mutex groups necessary. 29889 of 29889 operators necessary. 0 of 0 axiom rules necessary. Reordering and filtering variables: [6.760s CPU, 6.759s 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: 29889 Translator axioms: 0 Translator task size: 360494 Translator peak memory: 228220 KB Writing output... [5.960s CPU, 6.348s wall-clock] Done! [69.540s CPU, 69.902s wall-clock] planner.py version 0.0.1 Time: 16.65s Memory: 1125MB 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: 0.08s Memory: 1125MB (+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: 1125MB Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] Grounding Time: 3.26s Memory: 1125MB (+0MB) Unblocking actions... Solving... Solving Time: 0.36s Memory: 1128MB (+3MB) UNSAT Iteration Time: 4.98s 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: 1131.0MB Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] Grounding Time: 3.13s Memory: 1128MB (+0MB) Unblocking actions... Solving... Solving Time: 0.41s Memory: 1138MB (+10MB) UNSAT Iteration Time: 5.00s Iteration 4 Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 10 Expected Memory: 1148.0MB Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])] Grounding Time: 3.89s Memory: 1138MB (+0MB) Unblocking actions... Solving... Solving Time: 0.36s Memory: 1148MB (+10MB) SAT Testing... NOT SERIALIZABLE Testing Time: 18.72s Memory: 1791MB (+643MB) Solving... Solving Time: 10.69s Memory: 1148MB (+-643MB) UNSAT Iteration Time: 35.22s Iteration 5 Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)] Grounded Until: 15 Expected Memory: 1158.0MB Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])] Grounding Time: 6.06s Memory: 1148MB (+0MB) Unblocking actions... Solving... Solving Time: 39.10s Memory: 1201MB (+53MB) UNKNOWN Iteration Time: 47.00s Iteration 6 Queue: [(5,25,0,True), (6,30,0,True)] Grounded Until: 20 Expected Memory: 1254.0MB Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])] Grounding Time: 6.21s Memory: 1294MB (+93MB) Unblocking actions... Solving... Solving Time: 8.52s Memory: 1438MB (+144MB) SAT Testing... SERIALIZABLE? Testing Time: 0.00s Memory: 1438MB (+0MB) Answer: 2 occurs(action(("finish-object","object3","x5","y3")),1) 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(("park","pr2")),7) occurs(action(("get-right","pr2","x3","y2","xrel0","x3","yrel0","y2","object2","x4")),8) occurs(action(("gripper-right","pr2","x3","y2","xrel0","xrel1","x3","x4","yrel0","y2")),9) occurs(action(("put-right","pr2","x3","y2","xrel1","x4","yrel0","y2","object2","x5")),10) occurs(action(("finish-object","object2","x5","y2")),11) occurs(action(("get-down","pr2","x3","y2","xrel1","x4","yrel0","y2","object0","y3")),11) occurs(action(("gripper-left","pr2","x3","y2","xrel1","xrel0","x4","x3","yrel0","y2")),12) occurs(action(("put-right","pr2","x3","y2","xrel0","x3","yrel0","y2","object0","x4")),13) occurs(action(("finish-object","object0","x4","y2")),14) occurs(action(("unpark","pr2","xrel0","yrel0")),14) occurs(action(("base-down","pr2","x3","y2","y3")),15) occurs(action(("base-left","pr2","x3","x2","y3")),16) occurs(action(("park","pr2")),17) occurs(action(("gripper-down","pr2","x2","y3","xrel0","x2","yrel0","yrel1","y3","y4")),18) occurs(action(("get-left","pr2","x2","y3","xrel0","x2","yrel1","y4","object1","x1")),19) occurs(action(("gripper-up","pr2","x2","y3","xrel0","x2","yrel1","yrel0","y4","y3")),20) occurs(action(("gripper-right","pr2","x2","y3","xrel0","xrel1","x2","x3","yrel0","y3")),21) occurs(action(("put-right","pr2","x2","y3","xrel1","x3","yrel0","y3","object1","x4")),22) occurs(action(("finish-object","object1","x4","y3")),23) occurs(action(("gripper-left","pr2","x2","y3","xrel1","xrel0","x3","x2","yrel0","y3")),23) occurs(action(("unpark","pr2","xrel0","yrel0")),24) occurs(action(("base-down","pr2","x2","y3","y4")),25) SATISFIABLE Models : 1+ Calls : 7 Time : 111.942s (Solving: 57.69s 1st Model: 8.35s Unsat: 10.35s) CPU Time : 111.204s Choices : 44303 (Domain: 30718) Conflicts : 14790 (Analyzed: 14788) Restarts : 162 (Average: 91.28 Last: 151) Model-Level : 596.5 Problems : 7 (Average Length: 14.86 Splits: 0) Lemmas : 14788 (Deleted: 10237) Binary : 120 (Ratio: 0.81%) Ternary : 100 (Ratio: 0.68%) Conflict : 14788 (Average Length: 3358.7 Ratio: 100.00%) Loop : 0 (Average Length: 0.0 Ratio: 0.00%) Other : 0 (Average Length: 0.0 Ratio: 0.00%) Backjumps : 14788 (Average: 2.54 Max: 409 Sum: 37604) Executed : 14721 (Average: 2.46 Max: 409 Sum: 36430 Ratio: 96.88%) Bounded : 67 (Average: 17.52 Max: 22 Sum: 1174 Ratio: 3.12%) Rules : 1389984 (Original: 1389345) Atoms : 1057741 Bodies : 217671 (Original: 217087) Count : 2189 (Original: 2284) Equivalences : 68906 (Atom=Atom: 111 Body=Body: 0 Other: 68795) Tight : Yes Variables : 428357 (Eliminated: 0 Frozen: 239171) Constraints : 5373302 (Binary: 99.4% Ternary: 0.2% Other: 0.4%) Memory Peak : 1847MB Max. Length : 25 steps Sol. Length : 25 steps Models : 2