217 lines
10 KiB
Plaintext
217 lines
10 KiB
Plaintext
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Madagascar 0.99999 01/02/2018 14:46:04 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-1.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 115 -T 115
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Domain: barman
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Problem: prob
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Parser: 1968 ground actions and 337 state variables
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Invariants: 0 1 2 3 0.02 secs
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Goal: conjunctive
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Simplified: 1230 ground actions and 234 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 240)
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Plan type: E-step
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Allocated 32 MB permanent (total 130 MB)
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Horizon 115: 263124 variables
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Allocated 32 MB (total 255 MB)
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SAT (0 ID 723 decisions 272 conflicts 263124 variables)
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PLAN FOUND: 115 steps
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STEP 0: grasp(left,shot10) grasp(right,shaker1)
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STEP 1: leave(right,shaker1)
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STEP 2.0: fill-shot(shot10,ingredient3,left,right,dispenser3)
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STEP 2.1: grasp(right,shot8) leave(left,shot10)
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STEP 3.0: fill-shot(shot8,ingredient4,right,left,dispenser4)
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STEP 3.1: grasp(left,shot10)
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STEP 4.0: pour-shot-to-clean-shaker(shot8,ingredient4,shaker1,right,l0,l1)
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STEP 4.1: leave(right,shot8)
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STEP 5.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot10,ingredient3,shaker1,left,l1,l2)
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STEP 5.1: leave(left,shot10)
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STEP 6.0: shake(cocktail4,ingredient3,ingredient4,shaker1,right,left)
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STEP 6.1: grasp(left,shot10)
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STEP 7.0: pour-shaker-to-shot(cocktail4,shot1,right,shaker1,l2,l1)
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STEP 7.1: leave(right,shaker1)
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STEP 8: clean-shot(shot10,ingredient3,left,right)
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STEP 9.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 9.1: grasp(right,shaker1) leave(left,shot10)
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STEP 10.0: empty-shaker(right,shaker1,cocktail4,l1,l0) grasp(left,shot9)
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STEP 10.1: leave(right,shaker1)
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STEP 11.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 11.1: grasp(right,shaker1) leave(left,shot9)
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STEP 12.0: clean-shaker(right,left,shaker1)
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STEP 12.1: grasp(left,shot9) leave(right,shaker1)
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STEP 13.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot9,ingredient3,shaker1,left,l0,l1)
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STEP 13.1: leave(left,shot9)
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STEP 14.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,right,l1,l2)
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STEP 14.1: leave(right,shot10)
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STEP 15.0: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
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STEP 15.1: grasp(right,shot10) leave(left,shaker1)
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STEP 16.0: refill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 16.1: grasp(left,shaker1) leave(right,shot10)
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STEP 17: pour-shaker-to-shot(cocktail5,shot6,left,shaker1,l2,l1)
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STEP 18: empty-shaker(left,shaker1,cocktail5,l1,l0)
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STEP 19.0: clean-shaker(left,right,shaker1)
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STEP 19.1: grasp(right,shot10) leave(left,shaker1)
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STEP 20.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,right,l0,l1)
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STEP 20.1: leave(right,shot10)
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STEP 21.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 21.1: grasp(right,shaker1)
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STEP 22.0: pour-shot-to-used-shaker(shot9,ingredient3,shaker1,left,l1,l2)
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STEP 22.1: leave(left,shot9)
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STEP 23.0: shake(cocktail2,ingredient2,ingredient3,shaker1,right,left)
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STEP 23.1: grasp(left,shot7)
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STEP 24: pour-shaker-to-shot(cocktail2,shot2,right,shaker1,l2,l1)
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STEP 25.0: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 25.1: leave(right,shaker1)
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STEP 26.0: fill-shot(shot7,ingredient1,left,right,dispenser1)
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STEP 26.1: grasp(right,shot10) leave(left,shot7)
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STEP 27.0: refill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 27.1: grasp(left,shaker1) leave(right,shot10)
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STEP 28.0: clean-shaker(left,right,shaker1)
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STEP 28.1: grasp(right,shot10) leave(left,shaker1)
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STEP 29.0: grasp(left,shot7) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,right,l0,l1)
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STEP 29.1: leave(right,shot10)
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STEP 30.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot7,ingredient1,shaker1,left,l1,l2)
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STEP 30.1: leave(left,shot7)
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STEP 31: shake(cocktail8,ingredient1,ingredient2,shaker1,right,left)
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STEP 32.0: pour-shaker-to-shot(cocktail8,shot3,right,shaker1,l2,l1)
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STEP 32.1: leave(right,shaker1)
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STEP 33: grasp(left,shaker1) grasp(right,shot10)
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STEP 34.0: empty-shaker(left,shaker1,cocktail8,l1,l0)
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STEP 34.1: leave(left,shaker1)
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STEP 35: clean-shot(shot10,ingredient2,right,left)
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STEP 36.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
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STEP 36.1: grasp(left,shot8) leave(right,shot10)
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STEP 37.0: refill-shot(shot8,ingredient4,left,right,dispenser4)
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STEP 37.1: grasp(right,shot5) leave(left,shot8)
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STEP 38.0: fill-shot(shot5,ingredient2,right,left,dispenser2)
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STEP 38.1: grasp(left,shaker1) leave(right,shot5)
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STEP 39.0: clean-shaker(left,right,shaker1)
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STEP 39.1: grasp(right,shot5) leave(left,shaker1)
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STEP 40.0: grasp(left,shot8) pour-shot-to-clean-shaker(shot5,ingredient2,shaker1,right,l0,l1)
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STEP 40.1: leave(right,shot5)
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STEP 41.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot8,ingredient4,shaker1,left,l1,l2)
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STEP 41.1: leave(left,shot8)
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STEP 42: shake(cocktail7,ingredient2,ingredient4,shaker1,right,left)
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STEP 43: pour-shaker-to-shot(cocktail7,shot4,right,shaker1,l2,l1)
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STEP 44: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 45.0: clean-shaker(right,left,shaker1)
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STEP 45.1: grasp(left,shot10) leave(right,shaker1)
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STEP 46.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,left,l0,l1)
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STEP 46.1: leave(left,shot10)
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STEP 47.0: refill-shot(shot5,ingredient2,right,left,dispenser2)
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STEP 47.1: grasp(left,shot8) leave(right,shot5)
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STEP 48.0: refill-shot(shot8,ingredient4,left,right,dispenser4)
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STEP 48.1: grasp(right,shaker1) leave(left,shot8)
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STEP 49: leave(right,shaker1)
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STEP 50: grasp(left,shaker1) grasp(right,shot5)
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STEP 51: leave(left,shaker1) pour-shot-to-used-shaker(shot5,ingredient2,shaker1,right,l1,l2)
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STEP 52.0: clean-shot(shot5,ingredient2,right,left)
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STEP 52.1: grasp(left,shaker1) leave(right,shot5)
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STEP 53: shake(cocktail3,ingredient2,ingredient3,shaker1,left,right)
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STEP 54: pour-shaker-to-shot(cocktail3,shot5,left,shaker1,l2,l1)
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STEP 55: empty-shaker(left,shaker1,cocktail3,l1,l0)
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STEP 56.0: clean-shaker(left,right,shaker1)
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STEP 56.1: grasp(right,shot8) leave(left,shaker1)
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STEP 57.0: grasp(left,shot10) pour-shot-to-clean-shaker(shot8,ingredient4,shaker1,right,l0,l1)
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STEP 57.1: leave(right,shot8)
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STEP 58.0: refill-shot(shot10,ingredient3,left,right,dispenser3)
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STEP 58.1: grasp(right,shot7)
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STEP 59.0: pour-shot-to-used-shaker(shot10,ingredient3,shaker1,left,l1,l2)
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STEP 59.1: leave(left,shot10)
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STEP 60.0: clean-shot(shot7,ingredient1,right,left)
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STEP 60.1: grasp(left,shaker1) leave(right,shot7)
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STEP 61.0: shake(cocktail1,ingredient3,ingredient4,shaker1,left,right)
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STEP 61.1: grasp(right,shot9)
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STEP 62.0: leave(right,shot9) pour-shaker-to-shot(cocktail1,shot7,left,shaker1,l2,l1)
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STEP 62.1: leave(left,shaker1)
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STEP 63: grasp(left,shot10) grasp(right,shaker1)
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STEP 64.0: empty-shaker(right,shaker1,cocktail1,l1,l0) leave(left,shot10)
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STEP 64.1: leave(right,shaker1)
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STEP 65: grasp(left,shaker1)
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STEP 66.0: clean-shaker(left,right,shaker1)
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STEP 66.1: grasp(right,shot8) leave(left,shaker1)
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STEP 67.0: refill-shot(shot8,ingredient4,right,left,dispenser4)
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STEP 67.1: grasp(left,shot10)
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STEP 68.0: pour-shot-to-clean-shaker(shot8,ingredient4,shaker1,right,l0,l1)
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STEP 68.1: leave(right,shot8)
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STEP 69: clean-shot(shot10,ingredient3,left,right)
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STEP 70.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 70.1: grasp(right,shot8)
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STEP 71.0: pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 71.1: leave(left,shot10)
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STEP 72.0: clean-shot(shot8,ingredient4,right,left)
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STEP 72.1: grasp(left,shot9) leave(right,shot8)
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STEP 73.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 73.1: grasp(right,shot10) leave(left,shot9)
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STEP 74.0: clean-shot(shot10,ingredient2,right,left)
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STEP 74.1: grasp(left,shot8) leave(right,shot10)
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STEP 75.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 75.1: grasp(right,shaker1) leave(left,shot8)
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STEP 76.0: shake(cocktail7,ingredient2,ingredient4,shaker1,right,left)
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STEP 76.1: leave(right,shaker1)
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STEP 77: grasp(left,shaker1) grasp(right,shot9)
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STEP 78.0: empty-shot(right,shot9,ingredient3) pour-shaker-to-shot(cocktail7,shot10,left,shaker1,l2,l1)
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STEP 78.1: leave(left,shaker1)
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STEP 79: clean-shot(shot9,ingredient3,right,left)
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STEP 80.0: fill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 80.1: grasp(left,shaker1)
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STEP 81.0: empty-shaker(left,shaker1,cocktail7,l1,l0) empty-shot(right,shot9,ingredient2)
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STEP 81.1: leave(left,shaker1)
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STEP 82: clean-shot(shot9,ingredient2,right,left)
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STEP 83.0: fill-shot(shot9,ingredient1,right,left,dispenser1)
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STEP 83.1: grasp(left,shot8)
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STEP 84.0: empty-shot(left,shot8,ingredient1) empty-shot(right,shot9,ingredient1)
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STEP 84.1: leave(left,shot8) leave(right,shot9)
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STEP 85: grasp(left,shot9)
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STEP 86.0: refill-shot(shot9,ingredient1,left,right,dispenser1)
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STEP 86.1: leave(left,shot9)
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STEP 87: grasp(left,shaker1) grasp(right,shot9)
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STEP 88.0: empty-shot(right,shot9,ingredient1)
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STEP 88.1: leave(right,shot9)
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STEP 89.0: clean-shaker(left,right,shaker1)
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STEP 89.1: grasp(right,shot8) leave(left,shaker1)
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STEP 90.0: clean-shot(shot8,ingredient1,right,left)
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STEP 90.1: grasp(left,shot9) leave(right,shot8)
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STEP 91.0: refill-shot(shot9,ingredient1,left,right,dispenser1)
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STEP 91.1: leave(left,shot9)
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STEP 92: grasp(left,shot8) grasp(right,shot9)
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STEP 93.0: pour-shot-to-clean-shaker(shot9,ingredient1,shaker1,right,l0,l1)
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STEP 93.1: leave(right,shot9)
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STEP 94.0: fill-shot(shot8,ingredient2,left,right,dispenser2)
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STEP 94.1: grasp(right,shaker1)
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STEP 95: leave(right,shaker1) pour-shot-to-used-shaker(shot8,ingredient2,shaker1,left,l1,l2)
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STEP 96.0: clean-shot(shot8,ingredient2,left,right)
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STEP 96.1: grasp(right,shaker1) leave(left,shot8)
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STEP 97.0: shake(cocktail6,ingredient1,ingredient2,shaker1,right,left)
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STEP 97.1: grasp(left,shot9)
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STEP 98.0: pour-shaker-to-shot(cocktail6,shot8,right,shaker1,l2,l1)
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STEP 98.1: leave(right,shaker1)
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STEP 99: clean-shot(shot9,ingredient1,left,right)
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STEP 100: fill-shot(shot9,ingredient3,left,right,dispenser3)
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226 actions in the plan.
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Cost of the plan is 442.
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# statistics in YAML format
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---
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runtime:
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total: 0.20 # [s]
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preprocessing: 0.04 # [s]
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maxLearnedClauseLength: 2143
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groundActions:
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afterParsing: 1968
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afterPreprocessing: 1230
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stateVariables:
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afterParsing: 337
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afterPreprocessing: 234
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stronglyConnectedComponents:
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maxSize: 240
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plan:
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found: true
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length: 115
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actions: 226
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iterations:
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...
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