215 lines
9.9 KiB
Plaintext
215 lines
9.9 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-2.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 105 -T 105
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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 0.01 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 105: 240264 variables
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Allocated 32 MB (total 253 MB)
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SAT (0 ID 999 decisions 408 conflicts 240264 variables)
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PLAN FOUND: 105 steps
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STEP 0: grasp(left,shot10)
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STEP 1.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 1.1: grasp(right,shot1)
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STEP 2.0: pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 2.1: leave(left,shot10)
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STEP 3.0: fill-shot(shot1,ingredient3,right,left,dispenser3)
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STEP 3.1: grasp(left,shaker1)
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STEP 4.0: pour-shot-to-used-shaker(shot1,ingredient3,shaker1,right,l1,l2)
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STEP 4.1: leave(right,shot1)
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STEP 5.0: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
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STEP 5.1: grasp(right,shot1) leave(left,shaker1)
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STEP 6.0: clean-shot(shot1,ingredient3,right,left)
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STEP 6.1: grasp(left,shaker1) leave(right,shot1)
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STEP 7: pour-shaker-to-shot(cocktail5,shot1,left,shaker1,l2,l1)
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STEP 8: empty-shaker(left,shaker1,cocktail5,l1,l0)
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STEP 9.0: clean-shaker(left,right,shaker1)
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STEP 9.1: grasp(right,shot6) leave(left,shaker1)
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STEP 10.0: fill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 10.1: grasp(left,shot9)
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STEP 11.0: pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,right,l0,l1)
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STEP 11.1: leave(right,shot6)
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STEP 12.0: fill-shot(shot9,ingredient4,left,right,dispenser4)
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STEP 12.1: grasp(right,shaker1) leave(left,shot9)
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STEP 13: grasp(left,shot7) leave(right,shaker1)
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STEP 14.0: fill-shot(shot7,ingredient1,left,right,dispenser1)
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STEP 14.1: grasp(right,shot10) leave(left,shot7)
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STEP 15.0: refill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 15.1: grasp(left,shaker1)
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STEP 16.0: leave(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,right,l1,l2)
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STEP 16.1: leave(right,shot10)
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STEP 17: grasp(right,shaker1)
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STEP 18.0: shake(cocktail6,ingredient3,ingredient2,shaker1,right,left)
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STEP 18.1: grasp(left,shot10)
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STEP 19.0: pour-shaker-to-shot(cocktail6,shot2,right,shaker1,l2,l1)
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STEP 19.1: leave(right,shaker1)
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STEP 20: clean-shot(shot10,ingredient2,left,right)
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STEP 21.0: fill-shot(shot10,ingredient4,left,right,dispenser4)
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STEP 21.1: grasp(right,shot6) leave(left,shot10)
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STEP 22.0: refill-shot(shot6,ingredient3,right,left,dispenser3)
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STEP 22.1: grasp(left,shaker1) leave(right,shot6)
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STEP 23: empty-shaker(left,shaker1,cocktail6,l1,l0)
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STEP 24.0: clean-shaker(left,right,shaker1)
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STEP 24.1: grasp(right,shot10) leave(left,shaker1)
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STEP 25.0: grasp(left,shot7) pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
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STEP 25.1: leave(right,shot10)
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STEP 26.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot7,ingredient1,shaker1,left,l1,l2)
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STEP 26.1: leave(left,shot7)
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STEP 27.0: shake(cocktail7,ingredient4,ingredient1,shaker1,right,left)
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STEP 27.1: grasp(left,shot10)
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STEP 28.0: pour-shaker-to-shot(cocktail7,shot3,right,shaker1,l2,l1)
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STEP 28.1: leave(right,shaker1)
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STEP 29: clean-shot(shot10,ingredient4,left,right)
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STEP 30.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 30.1: grasp(right,shaker1) leave(left,shot10)
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STEP 31: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 32.0: clean-shaker(right,left,shaker1)
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STEP 32.1: grasp(left,shot6) leave(right,shaker1)
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STEP 33.0: grasp(right,shot7) pour-shot-to-clean-shaker(shot6,ingredient3,shaker1,left,l0,l1)
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STEP 33.1: leave(left,shot6)
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STEP 34.0: refill-shot(shot7,ingredient1,right,left,dispenser1)
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STEP 34.1: grasp(left,shot10) leave(right,shot7)
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STEP 35.0: pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 35.1: leave(left,shot10)
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STEP 36: grasp(left,shot5) grasp(right,shot10)
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STEP 37: leave(right,shot10)
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STEP 38.0: fill-shot(shot5,ingredient1,left,right,dispenser1)
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STEP 38.1: grasp(right,shaker1) leave(left,shot5)
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STEP 39.0: shake(cocktail3,ingredient2,ingredient3,shaker1,right,left)
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STEP 39.1: leave(right,shaker1)
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STEP 40: grasp(left,shaker1)
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STEP 41.0: pour-shaker-to-shot(cocktail3,shot8,left,shaker1,l2,l1)
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STEP 41.1: leave(left,shaker1)
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STEP 42: grasp(right,shaker1)
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STEP 43: empty-shaker(right,shaker1,cocktail3,l1,l0)
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STEP 44.0: clean-shaker(right,left,shaker1)
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STEP 44.1: leave(right,shaker1)
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STEP 45: grasp(left,shaker1) grasp(right,shot5)
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STEP 46.0: leave(left,shaker1) pour-shot-to-clean-shaker(shot5,ingredient1,shaker1,right,l0,l1)
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STEP 46.1: leave(right,shot5)
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STEP 47: grasp(left,shot10)
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STEP 48.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 48.1: grasp(right,shot5)
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STEP 49.0: pour-shot-to-used-shaker(shot10,ingredient2,shaker1,left,l1,l2)
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STEP 49.1: leave(left,shot10)
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STEP 50.0: clean-shot(shot5,ingredient1,right,left)
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STEP 50.1: grasp(left,shaker1) leave(right,shot5)
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STEP 51.0: shake(cocktail4,ingredient2,ingredient1,shaker1,left,right)
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STEP 51.1: grasp(right,shot10) leave(left,shaker1)
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STEP 52.0: clean-shot(shot10,ingredient2,right,left)
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STEP 52.1: grasp(left,shaker1) leave(right,shot10)
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STEP 53.0: pour-shaker-to-shot(cocktail4,shot5,left,shaker1,l2,l1)
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STEP 53.1: leave(left,shaker1)
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STEP 54: grasp(left,shot10) grasp(right,shaker1)
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STEP 55: leave(left,shot10) pour-shaker-to-shot(cocktail4,shot10,right,shaker1,l1,l0)
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STEP 56: empty-shaker(right,shaker1,cocktail4,l0,l0)
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STEP 57.0: clean-shaker(right,left,shaker1)
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STEP 57.1: grasp(left,shot9) leave(right,shaker1)
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STEP 58.0: grasp(right,shot4) pour-shot-to-clean-shaker(shot9,ingredient4,shaker1,left,l0,l1)
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STEP 58.1: leave(left,shot9)
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STEP 59.0: fill-shot(shot4,ingredient2,right,left,dispenser2)
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STEP 59.1: grasp(left,shaker1) leave(right,shot4)
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STEP 60: grasp(right,shot7) leave(left,shaker1)
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STEP 61.0: grasp(left,shot6) pour-shot-to-used-shaker(shot7,ingredient1,shaker1,right,l1,l2)
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STEP 61.1: leave(right,shot7)
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STEP 62.0: clean-shot(shot6,ingredient3,left,right)
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STEP 62.1: grasp(right,shaker1) leave(left,shot6)
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STEP 63: shake(cocktail7,ingredient4,ingredient1,shaker1,right,left)
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STEP 64.0: empty-shaker(right,shaker1,cocktail7,l2,l0)
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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,shot4) leave(left,shaker1)
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STEP 67: pour-shot-to-clean-shaker(shot4,ingredient2,shaker1,right,l0,l1)
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STEP 68.0: clean-shot(shot4,ingredient2,right,left)
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STEP 68.1: grasp(left,shot6) leave(right,shot4)
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STEP 69.0: fill-shot(shot6,ingredient1,left,right,dispenser1)
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STEP 69.1: leave(left,shot6)
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STEP 70: grasp(left,shaker1) grasp(right,shot6)
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STEP 71.0: pour-shot-to-used-shaker(shot6,ingredient1,shaker1,right,l1,l2)
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STEP 71.1: leave(right,shot6)
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STEP 72.0: shake(cocktail1,ingredient1,ingredient2,shaker1,left,right)
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STEP 72.1: grasp(right,shot7)
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STEP 73.0: pour-shaker-to-shot(cocktail1,shot4,left,shaker1,l2,l1)
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STEP 73.1: leave(left,shaker1)
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STEP 74.0: clean-shot(shot7,ingredient1,right,left)
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STEP 74.1: grasp(left,shot9) leave(right,shot7)
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STEP 75.0: clean-shot(shot9,ingredient4,left,right)
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STEP 75.1: grasp(right,shaker1) leave(left,shot9)
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STEP 76.0: empty-shaker(right,shaker1,cocktail1,l1,l0)
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STEP 76.1: leave(right,shaker1)
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STEP 77: grasp(left,shaker1) grasp(right,shot7)
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STEP 78: leave(left,shaker1)
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STEP 79.0: fill-shot(shot7,ingredient4,right,left,dispenser4)
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STEP 79.1: grasp(left,shot6) leave(right,shot7)
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STEP 80.0: refill-shot(shot6,ingredient1,left,right,dispenser1)
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STEP 80.1: grasp(right,shot9) leave(left,shot6)
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STEP 81.0: fill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 81.1: grasp(left,shaker1) leave(right,shot9)
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STEP 82.0: clean-shaker(left,right,shaker1)
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STEP 82.1: grasp(right,shot6) leave(left,shaker1)
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STEP 83.0: grasp(left,shot7) pour-shot-to-clean-shaker(shot6,ingredient1,shaker1,right,l0,l1)
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STEP 83.1: leave(right,shot6)
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STEP 84.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot7,ingredient4,shaker1,left,l1,l2)
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STEP 84.1: leave(left,shot7)
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STEP 85.0: shake(cocktail2,ingredient1,ingredient4,shaker1,right,left)
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STEP 85.1: grasp(left,shot6) leave(right,shaker1)
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STEP 86.0: clean-shot(shot6,ingredient1,left,right)
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STEP 86.1: grasp(right,shaker1) leave(left,shot6)
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STEP 87.0: grasp(left,shot7) pour-shaker-to-shot(cocktail2,shot6,right,shaker1,l2,l1)
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STEP 87.1: leave(right,shaker1)
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STEP 88.0: clean-shot(shot7,ingredient4,left,right)
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STEP 88.1: grasp(right,shaker1) leave(left,shot7)
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STEP 89: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 90.0: clean-shaker(right,left,shaker1)
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STEP 90.1: grasp(left,shot9) leave(right,shaker1)
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STEP 91.0: grasp(right,shot7) pour-shot-to-clean-shaker(shot9,ingredient2,shaker1,left,l0,l1)
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STEP 91.1: leave(left,shot9)
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STEP 92.0: fill-shot(shot7,ingredient1,right,left,dispenser1)
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STEP 92.1: grasp(left,shaker1)
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STEP 93.0: pour-shot-to-used-shaker(shot7,ingredient1,shaker1,right,l1,l2)
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STEP 93.1: leave(right,shot7)
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STEP 94.0: shake(cocktail8,ingredient2,ingredient1,shaker1,left,right)
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STEP 94.1: grasp(right,shot7) leave(left,shaker1)
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STEP 95.0: clean-shot(shot7,ingredient1,right,left)
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STEP 95.1: grasp(left,shaker1) leave(right,shot7)
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STEP 96.0: grasp(right,shot9) pour-shaker-to-shot(cocktail8,shot7,left,shaker1,l2,l1)
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STEP 96.1: leave(left,shaker1)
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STEP 97.0: clean-shot(shot9,ingredient2,right,left)
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STEP 97.1: grasp(left,shaker1)
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STEP 98: pour-shaker-to-shot(cocktail8,shot9,left,shaker1,l1,l0)
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222 actions in the plan.
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Cost of the plan is 384.
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# statistics in YAML format
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---
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runtime:
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total: 0.21 # [s]
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preprocessing: 0.03 # [s]
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maxLearnedClauseLength: 8837
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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: 105
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actions: 222
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iterations:
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...
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