tplp-planning-benchmark/gc-ta1-tt1/ipc-2011_elevator-sequential-satisficing_1.out

392 lines
19 KiB
Plaintext

INFO Running translator.
INFO translator input: ['/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/elevator-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/elevator-sequential-satisficing/instances/instance-1.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/elevator-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/elevator-sequential-satisficing/instances/instance-1.pddl
Parsing...
Parsing: [0.040s CPU, 0.042s wall-clock]
Normalizing task... [0.000s CPU, 0.002s wall-clock]
Instantiating...
Generating Datalog program... [0.010s CPU, 0.009s wall-clock]
Normalizing Datalog program...
Normalizing Datalog program: [0.020s CPU, 0.026s wall-clock]
Preparing model... [0.020s CPU, 0.027s wall-clock]
Generated 46 rules.
Computing model... [0.460s CPU, 0.450s wall-clock]
3460 relevant atoms
2552 auxiliary atoms
6012 final queue length
11142 total queue pushes
Completing instantiation... [1.020s CPU, 1.023s wall-clock]
Instantiating: [1.540s CPU, 1.543s wall-clock]
Computing fact groups...
Finding invariants...
12 initial candidates
Finding invariants: [0.030s CPU, 0.032s wall-clock]
Checking invariant weight... [0.000s CPU, 0.002s wall-clock]
Instantiating groups... [0.020s CPU, 0.017s wall-clock]
Collecting mutex groups... [0.000s CPU, 0.002s wall-clock]
Choosing groups...
0 uncovered facts
Choosing groups: [0.000s CPU, 0.007s wall-clock]
Building translation key... [0.010s CPU, 0.004s wall-clock]
Computing fact groups: [0.080s CPU, 0.078s wall-clock]
Building STRIPS to SAS dictionary... [0.000s CPU, 0.002s wall-clock]
Building dictionary for full mutex groups... [0.000s CPU, 0.001s 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: [0.050s CPU, 0.046s wall-clock]
Translating task: [0.820s CPU, 0.820s wall-clock]
0 effect conditions simplified
0 implied preconditions added
Detecting unreachable propositions...
0 operators removed
0 axioms removed
22 propositions removed
Detecting unreachable propositions: [0.400s CPU, 0.401s wall-clock]
Reordering and filtering variables...
22 of 22 variables necessary.
0 of 22 mutex groups necessary.
2816 of 2816 operators necessary.
0 of 0 axiom rules necessary.
Reordering and filtering variables: [0.130s CPU, 0.131s wall-clock]
Translator variables: 22
Translator derived variables: 0
Translator facts: 340
Translator goal facts: 14
Translator mutex groups: 0
Translator total mutex groups size: 0
Translator operators: 2816
Translator axioms: 0
Translator task size: 16720
Translator peak memory: 47308 KB
Writing output... [0.340s CPU, 0.370s wall-clock]
Done! [3.390s CPU, 3.429s wall-clock]
planner.py version 0.0.1
Time: 0.67s
Memory: 94MB
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: 0.00s
Memory: 95MB (+1MB)
UNSAT
Iteration Time: 0.00s
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: 95MB
Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])]
Grounding Time: 0.19s
Memory: 95MB (+0MB)
Unblocking actions...
Solving...
Solving Time: 0.02s
Memory: 96MB (+1MB)
UNSAT
Iteration Time: 0.31s
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: 97.0MB
Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])]
Grounding Time: 0.19s
Memory: 100MB (+4MB)
Unblocking actions...
Solving...
Solving Time: 1.19s
Memory: 109MB (+9MB)
UNKNOWN
Iteration Time: 1.49s
Iteration 4
Queue: [(3,15,0,True), (4,20,0,True), (5,25,0,True), (6,30,0,True)]
Grounded Until: 10
Expected Memory: 122.0MB
Grounding... [('step', [11]), ('step', [12]), ('step', [13]), ('step', [14]), ('step', [15]), ('check', [15])]
Grounding Time: 0.23s
Memory: 122MB (+13MB)
Unblocking actions...
Solving...
Solving Time: 0.09s
Memory: 135MB (+13MB)
SAT
Testing...
NOT SERIALIZABLE
Testing Time: 0.81s
Memory: 162MB (+27MB)
Solving...
Solving Time: 3.75s
Memory: 156MB (+-6MB)
UNKNOWN
Iteration Time: 5.00s
Iteration 5
Queue: [(4,20,0,True), (5,25,0,True), (6,30,0,True)]
Grounded Until: 15
Expected Memory: 182.0MB
Grounding... [('step', [16]), ('step', [17]), ('step', [18]), ('step', [19]), ('step', [20]), ('check', [20])]
Grounding Time: 0.34s
Memory: 156MB (+0MB)
Unblocking actions...
Solving...
Solving Time: 4.89s
Memory: 165MB (+9MB)
UNKNOWN
Iteration Time: 5.37s
Iteration 6
Queue: [(5,25,0,True), (6,30,0,True)]
Grounded Until: 20
Expected Memory: 191.0MB
Grounding... [('step', [21]), ('step', [22]), ('step', [23]), ('step', [24]), ('step', [25]), ('check', [25])]
Grounding Time: 0.35s
Memory: 170MB (+5MB)
Unblocking actions...
Solving...
Solving Time: 6.06s
Memory: 184MB (+14MB)
UNKNOWN
Iteration Time: 6.57s
Iteration 7
Queue: [(6,30,0,True)]
Grounded Until: 25
Expected Memory: 210.0MB
Grounding... [('step', [26]), ('step', [27]), ('step', [28]), ('step', [29]), ('step', [30]), ('check', [30])]
Grounding Time: 0.36s
Memory: 193MB (+9MB)
Unblocking actions...
Solving...
Solving Time: 8.64s
Memory: 203MB (+10MB)
UNKNOWN
Iteration Time: 9.17s
Iteration 8
Queue: [(2,10,1,True), (3,15,1,True), (4,20,1,True), (5,25,1,True), (6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 30
Blocking actions...
Solving...
Solving Time: 0.07s
Memory: 205MB (+2MB)
UNSAT
Iteration Time: 0.08s
Iteration 9
Queue: [(3,15,1,True), (4,20,1,True), (5,25,1,True), (6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 30
Unblocking actions...
Solving...
Solving Time: 3.99s
Memory: 207MB (+2MB)
UNKNOWN
Iteration Time: 4.01s
Iteration 10
Queue: [(4,20,1,True), (5,25,1,True), (6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 30
Unblocking actions...
Solving...
Solving Time: 5.53s
Memory: 207MB (+0MB)
UNKNOWN
Iteration Time: 5.55s
Iteration 11
Queue: [(5,25,1,True), (6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 30
Unblocking actions...
Solving...
Solving Time: 5.44s
Memory: 207MB (+0MB)
UNKNOWN
Iteration Time: 5.46s
Iteration 12
Queue: [(6,30,1,True), (7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 30
Unblocking actions...
Solving...
Solving Time: 4.99s
Memory: 207MB (+0MB)
UNKNOWN
Iteration Time: 5.00s
Iteration 13
Queue: [(7,35,0,True), (8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 30
Expected Memory: 233.0MB
Grounding... [('step', [31]), ('step', [32]), ('step', [33]), ('step', [34]), ('step', [35]), ('check', [35])]
Grounding Time: 0.43s
Memory: 226MB (+19MB)
Unblocking actions...
Solving...
Solving Time: 8.82s
Memory: 244MB (+18MB)
UNKNOWN
Iteration Time: 9.42s
Iteration 14
Queue: [(8,40,0,True), (9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 35
Expected Memory: 281.0MB
Grounding... [('step', [36]), ('step', [37]), ('step', [38]), ('step', [39]), ('step', [40]), ('check', [40])]
Grounding Time: 0.34s
Memory: 246MB (+2MB)
Unblocking actions...
Solving...
Solving Time: 10.05s
Memory: 256MB (+10MB)
UNKNOWN
Iteration Time: 10.57s
Iteration 15
Queue: [(9,45,0,True), (10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 40
Expected Memory: 293.0MB
Grounding... [('step', [41]), ('step', [42]), ('step', [43]), ('step', [44]), ('step', [45]), ('check', [45])]
Grounding Time: 0.35s
Memory: 258MB (+2MB)
Unblocking actions...
Solving...
Solving Time: 12.32s
Memory: 277MB (+19MB)
UNKNOWN
Iteration Time: 12.86s
Iteration 16
Queue: [(10,50,0,True), (11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 45
Expected Memory: 314.0MB
Grounding... [('step', [46]), ('step', [47]), ('step', [48]), ('step', [49]), ('step', [50]), ('check', [50])]
Grounding Time: 0.36s
Memory: 298MB (+21MB)
Unblocking actions...
Solving...
Solving Time: 13.01s
Memory: 320MB (+22MB)
UNKNOWN
Iteration Time: 13.57s
Iteration 17
Queue: [(11,55,0,True), (12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 50
Expected Memory: 363.0MB
Grounding... [('step', [51]), ('step', [52]), ('step', [53]), ('step', [54]), ('step', [55]), ('check', [55])]
Grounding Time: 0.36s
Memory: 320MB (+0MB)
Unblocking actions...
Solving...
Solving Time: 15.39s
Memory: 328MB (+8MB)
UNKNOWN
Iteration Time: 15.96s
Iteration 18
Queue: [(12,60,0,True), (13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 55
Expected Memory: 371.0MB
Grounding... [('step', [56]), ('step', [57]), ('step', [58]), ('step', [59]), ('step', [60]), ('check', [60])]
Grounding Time: 0.36s
Memory: 332MB (+4MB)
Unblocking actions...
Solving...
Solving Time: 12.69s
Memory: 351MB (+19MB)
UNKNOWN
Iteration Time: 13.27s
Iteration 19
Queue: [(13,65,0,True), (14,70,0,True), (15,75,0,True)]
Grounded Until: 60
Expected Memory: 394.0MB
Grounding... [('step', [61]), ('step', [62]), ('step', [63]), ('step', [64]), ('step', [65]), ('check', [65])]
Grounding Time: 0.37s
Memory: 370MB (+19MB)
Unblocking actions...
Solving...
Solving Time: 18.12s
Memory: 382MB (+12MB)
UNKNOWN
Iteration Time: 18.71s
Iteration 20
Queue: [(14,70,0,True), (15,75,0,True)]
Grounded Until: 65
Expected Memory: 425.0MB
Grounding... [('step', [66]), ('step', [67]), ('step', [68]), ('step', [69]), ('step', [70]), ('check', [70])]
Grounding Time: 0.51s
Memory: 392MB (+10MB)
Unblocking actions...
Solving...
Solving Time: 18.70s
Memory: 402MB (+10MB)
UNKNOWN
Iteration Time: 19.45s
Iteration 21
Queue: [(15,75,0,True)]
Grounded Until: 70
Expected Memory: 445.0MB
Grounding... [('step', [71]), ('step', [72]), ('step', [73]), ('step', [74]), ('step', [75]), ('check', [75])]
Grounding Time: 0.35s
Memory: 405MB (+3MB)
Unblocking actions...
Solving...
Solving Time: 6.17s
Memory: 442MB (+37MB)
SAT
Testing...
SERIALIZABLE?
Testing Time: 0.00s
Memory: 442MB (+0MB)
Answer: 2
occurs(action(("move-down-fast","fast1","n12","n4")),1) occurs(action(("move-up-fast","fast0","n8","n12")),1) occurs(action(("move-down-slow","slow1-0","n12","n8")),1) occurs(action(("move-up-slow","slow0-0","n2","n7")),1) occurs(action(("board","p6","slow1-0","n8","n0","n1")),2) occurs(action(("board","p13","slow0-0","n7","n0","n1")),2) occurs(action(("board","p5","fast0","n12","n0","n1")),2) occurs(action(("move-up-slow","slow1-0","n8","n14")),3) occurs(action(("move-down-slow","slow0-0","n7","n6")),3) occurs(action(("move-down-fast","fast0","n12","n0")),3) occurs(action(("leave","p6","slow1-0","n14","n1","n0")),4) occurs(action(("leave","p13","slow0-0","n6","n1","n0")),4) occurs(action(("leave","p5","fast0","n0","n1","n0")),4) occurs(action(("move-up-fast","fast0","n0","n4")),5) occurs(action(("move-down-slow","slow1-0","n14","n8")),5) occurs(action(("move-down-slow","slow0-0","n6","n0")),5) occurs(action(("board","p5","slow0-0","n0","n0","n1")),6) occurs(action(("board","p10","fast0","n4","n0","n1")),6) occurs(action(("move-up-fast","fast0","n4","n12")),7) occurs(action(("move-up-slow","slow0-0","n0","n2")),7) occurs(action(("leave","p5","slow0-0","n2","n1","n0")),8) occurs(action(("leave","p10","fast0","n12","n1","n0")),8) occurs(action(("move-down-slow","slow0-0","n2","n0")),9) occurs(action(("board","p3","slow0-0","n0","n0","n1")),10) occurs(action(("move-up-slow","slow0-0","n0","n8")),11) occurs(action(("leave","p3","slow0-0","n8","n1","n0")),12) occurs(action(("board","p3","slow1-0","n8","n0","n1")),13) occurs(action(("move-up-slow","slow1-0","n8","n14")),14) occurs(action(("leave","p3","slow1-0","n14","n1","n0")),15) occurs(action(("move-down-slow","slow1-0","n14","n13")),16) occurs(action(("board","p12","slow1-0","n13","n0","n1")),17) occurs(action(("move-down-slow","slow1-0","n13","n8")),18) occurs(action(("leave","p12","slow1-0","n8","n1","n0")),19) occurs(action(("board","p12","slow0-0","n8","n0","n1")),20) occurs(action(("move-up-slow","slow1-0","n8","n13")),20) occurs(action(("move-down-slow","slow0-0","n8","n5")),21) occurs(action(("board","p2","slow1-0","n13","n0","n1")),21) occurs(action(("leave","p12","slow0-0","n5","n1","n0")),22) occurs(action(("move-down-slow","slow1-0","n13","n12")),22) occurs(action(("board","p8","slow0-0","n5","n0","n1")),23) occurs(action(("leave","p2","slow1-0","n12","n1","n0")),23) occurs(action(("move-down-slow","slow0-0","n5","n4")),24) occurs(action(("board","p2","fast0","n12","n0","n1")),24) occurs(action(("move-up-slow","slow1-0","n12","n16")),24) occurs(action(("move-down-fast","fast0","n12","n4")),25) occurs(action(("move-up-fast","fast1","n4","n8")),25) occurs(action(("leave","p8","slow0-0","n4","n1","n0")),25) occurs(action(("leave","p2","fast0","n4","n1","n0")),26) occurs(action(("board","p2","slow0-0","n4","n0","n1")),27) occurs(action(("board","p8","fast0","n4","n0","n1")),27) occurs(action(("move-up-slow","slow0-0","n4","n6")),28) occurs(action(("move-up-fast","fast0","n4","n16")),28) occurs(action(("leave","p2","slow0-0","n6","n1","n0")),29) occurs(action(("leave","p8","fast0","n16","n1","n0")),29) occurs(action(("board","p8","slow1-0","n16","n0","n1")),30) occurs(action(("move-down-fast","fast0","n16","n12")),30) occurs(action(("move-down-slow","slow0-0","n6","n2")),30) occurs(action(("move-down-slow","slow1-0","n16","n10")),31) occurs(action(("board","p9","slow0-0","n2","n0","n1")),31) occurs(action(("move-up-fast","fast1","n8","n12")),31) occurs(action(("leave","p8","slow1-0","n10","n1","n0")),32) occurs(action(("move-up-slow","slow0-0","n2","n8")),32) occurs(action(("move-down-slow","slow1-0","n10","n8")),33) occurs(action(("leave","p9","slow0-0","n8","n1","n0")),33) occurs(action(("board","p9","slow1-0","n8","n0","n1")),34) occurs(action(("move-down-slow","slow0-0","n8","n3")),34) occurs(action(("move-up-slow","slow1-0","n8","n9")),35) occurs(action(("board","p7","slow0-0","n3","n0","n1")),35) occurs(action(("leave","p9","slow1-0","n9","n1","n0")),36) occurs(action(("move-down-fast","fast0","n12","n4")),36) occurs(action(("move-down-fast","fast1","n12","n4")),36) occurs(action(("move-up-slow","slow0-0","n3","n4")),36) occurs(action(("leave","p7","slow0-0","n4","n1","n0")),37) occurs(action(("move-up-fast","fast1","n4","n8")),37) occurs(action(("board","p4","slow1-0","n9","n0","n1")),37) occurs(action(("move-up-slow","slow0-0","n4","n8")),38) occurs(action(("move-down-slow","slow1-0","n9","n8")),38) occurs(action(("leave","p4","slow1-0","n8","n1","n0")),39) occurs(action(("board","p4","slow0-0","n8","n0","n1")),40) occurs(action(("move-up-slow","slow1-0","n8","n13")),40) occurs(action(("move-down-slow","slow0-0","n8","n5")),41) occurs(action(("board","p0","slow1-0","n13","n0","n1")),41) occurs(action(("leave","p4","slow0-0","n5","n1","n0")),42) occurs(action(("move-down-slow","slow1-0","n13","n8")),42) occurs(action(("leave","p0","slow1-0","n8","n1","n0")),43) occurs(action(("move-down-slow","slow0-0","n5","n4")),43) occurs(action(("move-up-slow","slow1-0","n8","n10")),44) occurs(action(("board","p1","slow1-0","n10","n0","n1")),45) occurs(action(("move-up-slow","slow0-0","n4","n7")),45) occurs(action(("move-up-slow","slow1-0","n10","n15")),46) occurs(action(("leave","p1","slow1-0","n15","n1","n0")),47) occurs(action(("move-down-slow","slow1-0","n15","n11")),48) occurs(action(("board","p11","slow1-0","n11","n0","n1")),49) occurs(action(("move-up-slow","slow1-0","n11","n13")),50) occurs(action(("leave","p11","slow1-0","n13","n1","n0")),51) occurs(action(("move-down-slow","slow1-0","n13","n11")),52) occurs(action(("move-down-slow","slow0-0","n7","n0")),53) occurs(action(("move-up-slow","slow0-0","n0","n3")),54) occurs(action(("move-up-slow","slow1-0","n11","n16")),55) occurs(action(("move-down-slow","slow1-0","n16","n12")),56) occurs(action(("move-up-slow","slow1-0","n12","n16")),57) occurs(action(("move-down-slow","slow1-0","n16","n12")),58) occurs(action(("move-up-slow","slow1-0","n12","n16")),59) occurs(action(("move-down-slow","slow1-0","n16","n12")),60) occurs(action(("move-up-slow","slow1-0","n12","n16")),61) occurs(action(("move-down-slow","slow1-0","n16","n12")),62) occurs(action(("move-up-slow","slow1-0","n12","n16")),63) occurs(action(("move-down-slow","slow1-0","n16","n12")),64) occurs(action(("move-up-slow","slow1-0","n12","n16")),65) occurs(action(("move-down-slow","slow1-0","n16","n12")),66) occurs(action(("move-up-slow","slow1-0","n12","n16")),67) occurs(action(("move-down-slow","slow1-0","n16","n12")),68) occurs(action(("move-up-slow","slow1-0","n12","n16")),69) occurs(action(("move-down-slow","slow1-0","n16","n10")),70) occurs(action(("move-up-slow","slow1-0","n10","n13")),71) occurs(action(("move-up-slow","slow0-0","n3","n8")),72) occurs(action(("move-down-fast","fast0","n4","n0")),73) occurs(action(("move-up-fast","fast0","n0","n16")),74) occurs(action(("move-down-fast","fast0","n16","n8")),75) occurs(action(("move-up-fast","fast1","n8","n12")),75)
SATISFIABLE
Models : 1+
Calls : 22
Time : 168.652s (Solving: 159.19s 1st Model: 6.15s Unsat: 0.05s)
CPU Time : 168.680s
Choices : 6412815 (Domain: 6412630)
Conflicts : 173390 (Analyzed: 173388)
Restarts : 1735 (Average: 99.94 Last: 183)
Model-Level : 1997.5
Problems : 22 (Average Length: 36.77 Splits: 0)
Lemmas : 173388 (Deleted: 154000)
Binary : 2028 (Ratio: 1.17%)
Ternary : 2033 (Ratio: 1.17%)
Conflict : 173388 (Average Length: 989.4 Ratio: 100.00%)
Loop : 0 (Average Length: 0.0 Ratio: 0.00%)
Other : 0 (Average Length: 0.0 Ratio: 0.00%)
Backjumps : 173388 (Average: 30.63 Max: 1924 Sum: 5310593)
Executed : 173268 (Average: 30.61 Max: 1924 Sum: 5307351 Ratio: 99.94%)
Bounded : 120 (Average: 27.02 Max: 67 Sum: 3242 Ratio: 0.06%)
Rules : 151649 (Original: 151611)
Atoms : 57048
Bodies : 64617 (Original: 64578)
Count : 299 (Original: 303)
Equivalences : 33626 (Atom=Atom: 21 Body=Body: 0 Other: 33605)
Tight : Yes
Variables : 264184 (Eliminated: 0 Frozen: 226936)
Constraints : 2378007 (Binary: 97.7% Ternary: 1.0% Other: 1.3%)
Memory Peak : 448MB
Max. Length : 75 steps
Sol. Length : 75 steps
Models : 2