208 lines
9.5 KiB
Plaintext
208 lines
9.5 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-3.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 100 -T 100
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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 0.02 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 100: 228834 variables
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Allocated 32 MB (total 253 MB)
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SAT (0 ID 2394 decisions 1064 conflicts 228834 variables)
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PLAN FOUND: 100 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,shaker1)
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STEP 2: leave(right,shaker1) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 3.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 3.1: grasp(right,shot7) leave(left,shot10)
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STEP 4.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 4.1: grasp(left,shaker1)
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STEP 5.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 5.1: leave(right,shot7)
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STEP 6.0: shake(cocktail4,ingredient3,ingredient2,shaker1,left,right)
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STEP 6.1: leave(left,shaker1)
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STEP 7: grasp(right,shaker1)
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STEP 8: empty-shaker(right,shaker1,cocktail4,l2,l0)
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STEP 9.0: clean-shaker(right,left,shaker1)
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STEP 9.1: grasp(left,shot10) leave(right,shaker1)
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STEP 10.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 10.1: leave(left,shot10)
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STEP 11.0: fill-shot(shot9,ingredient3,right,left,dispenser3)
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STEP 11.1: grasp(left,shaker1)
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STEP 12.0: pour-shot-to-used-shaker(shot9,ingredient3,shaker1,right,l1,l2)
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STEP 12.1: leave(right,shot9)
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STEP 13.0: shake(cocktail3,ingredient2,ingredient3,shaker1,left,right)
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STEP 13.1: grasp(right,shot10)
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STEP 14.0: pour-shaker-to-shot(cocktail3,shot1,left,shaker1,l2,l1)
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STEP 14.1: leave(left,shaker1)
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STEP 15.0: refill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 15.1: grasp(left,shot9) leave(right,shot10)
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STEP 16.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 16.1: grasp(right,shaker1) leave(left,shot9)
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STEP 17: empty-shaker(right,shaker1,cocktail3,l1,l0)
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STEP 18.0: clean-shaker(right,left,shaker1)
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STEP 18.1: grasp(left,shot9) leave(right,shaker1)
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STEP 19.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot9,ingredient3,shaker1,left,l0,l1)
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STEP 19.1: leave(left,shot9)
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STEP 20.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,right,l1,l2)
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STEP 20.1: leave(right,shot10)
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STEP 21: shake(cocktail5,ingredient3,ingredient2,shaker1,left,right)
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STEP 22.0: pour-shaker-to-shot(cocktail5,shot2,left,shaker1,l2,l1)
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STEP 22.1: leave(left,shaker1)
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STEP 23: grasp(left,shot10) grasp(right,shaker1)
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STEP 24.0: empty-shaker(right,shaker1,cocktail5,l1,l0) leave(left,shot10)
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STEP 24.1: leave(right,shaker1)
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STEP 25: grasp(left,shaker1) grasp(right,shot10)
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STEP 26: leave(left,shaker1) leave(right,shot10)
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STEP 27: grasp(right,shaker1)
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STEP 28.0: clean-shaker(right,left,shaker1)
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STEP 28.1: grasp(left,shot10) leave(right,shaker1)
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STEP 29.0: refill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 29.1: grasp(right,shot6)
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STEP 30.0: pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 30.1: leave(left,shot10)
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STEP 31.0: fill-shot(shot6,ingredient1,right,left,dispenser1)
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STEP 31.1: grasp(left,shot9) leave(right,shot6)
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STEP 32.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 32.1: grasp(right,shaker1)
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STEP 33.0: leave(right,shaker1) pour-shot-to-used-shaker(shot9,ingredient3,shaker1,left,l1,l2)
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STEP 33.1: leave(left,shot9)
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STEP 34: grasp(left,shaker1)
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STEP 35.0: shake(cocktail4,ingredient3,ingredient2,shaker1,left,right)
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STEP 35.1: grasp(right,shot10)
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STEP 36.0: pour-shaker-to-shot(cocktail4,shot5,left,shaker1,l2,l1)
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STEP 36.1: leave(left,shaker1)
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STEP 37.0: clean-shot(shot10,ingredient2,right,left)
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STEP 37.1: grasp(left,shaker1)
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STEP 38.0: empty-shaker(left,shaker1,cocktail4,l1,l0)
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STEP 38.1: leave(left,shaker1)
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STEP 39.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
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STEP 39.1: grasp(left,shot4) leave(right,shot10)
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STEP 40: grasp(right,shot9) leave(left,shot4)
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STEP 41.0: clean-shot(shot9,ingredient3,right,left)
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STEP 41.1: grasp(left,shaker1) leave(right,shot9)
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STEP 42.0: clean-shaker(left,right,shaker1)
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STEP 42.1: grasp(right,shot10) leave(left,shaker1)
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STEP 43.0: grasp(left,shot6) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,right,l0,l1)
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STEP 43.1: leave(right,shot10)
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STEP 44.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot6,ingredient1,shaker1,left,l1,l2)
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STEP 44.1: leave(left,shot6)
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STEP 45.0: shake(cocktail6,ingredient1,ingredient3,shaker1,right,left)
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STEP 45.1: grasp(left,shot10)
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STEP 46.0: pour-shaker-to-shot(cocktail6,shot4,right,shaker1,l2,l1)
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STEP 46.1: leave(right,shaker1)
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STEP 47: clean-shot(shot10,ingredient3,left,right)
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STEP 48.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 48.1: grasp(right,shaker1) leave(left,shot10)
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STEP 49.0: empty-shaker(right,shaker1,cocktail6,l1,l0) grasp(left,shot9)
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STEP 49.1: leave(right,shaker1)
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STEP 50.0: fill-shot(shot9,ingredient1,left,right,dispenser1)
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STEP 50.1: grasp(right,shaker1) leave(left,shot9)
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STEP 51.0: clean-shaker(right,left,shaker1)
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STEP 51.1: grasp(left,shot9) leave(right,shaker1)
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STEP 52.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot9,ingredient1,shaker1,left,l0,l1)
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STEP 52.1: leave(left,shot9)
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STEP 53.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot10,ingredient2,shaker1,right,l1,l2)
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STEP 53.1: leave(right,shot10)
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STEP 54: shake(cocktail2,ingredient2,ingredient1,shaker1,left,right)
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STEP 55.0: pour-shaker-to-shot(cocktail2,shot3,left,shaker1,l2,l1)
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STEP 55.1: leave(left,shaker1)
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STEP 56: grasp(left,shot10) grasp(right,shaker1)
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STEP 57.0: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 57.1: leave(right,shaker1)
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STEP 58.0: clean-shot(shot10,ingredient2,left,right)
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STEP 58.1: grasp(right,shot6) leave(left,shot10)
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STEP 59.0: clean-shot(shot6,ingredient1,right,left)
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STEP 59.1: grasp(left,shot10) leave(right,shot6)
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STEP 60.0: fill-shot(shot10,ingredient3,left,right,dispenser3)
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STEP 60.1: grasp(right,shaker1) leave(left,shot10)
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STEP 61.0: clean-shaker(right,left,shaker1)
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STEP 61.1: grasp(left,shot10) leave(right,shaker1)
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STEP 62.0: grasp(right,shot8) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,left,l0,l1)
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STEP 62.1: leave(left,shot10)
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STEP 63.0: fill-shot(shot8,ingredient2,right,left,dispenser2)
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STEP 63.1: grasp(left,shaker1)
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STEP 64.0: leave(left,shaker1) pour-shot-to-used-shaker(shot8,ingredient2,shaker1,right,l1,l2)
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STEP 64.1: leave(right,shot8)
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STEP 65: grasp(right,shaker1)
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STEP 66.0: shake(cocktail1,ingredient2,ingredient3,shaker1,right,left)
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STEP 66.1: grasp(left,shot10)
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STEP 67.0: pour-shaker-to-shot(cocktail1,shot6,right,shaker1,l2,l1)
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STEP 67.1: leave(right,shaker1)
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STEP 68: clean-shot(shot10,ingredient3,left,right)
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STEP 69.0: fill-shot(shot10,ingredient2,left,right,dispenser2)
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STEP 69.1: grasp(right,shot9) leave(left,shot10)
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STEP 70.0: clean-shot(shot9,ingredient1,right,left)
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STEP 70.1: grasp(left,shaker1) leave(right,shot9)
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STEP 71.0: empty-shaker(left,shaker1,cocktail1,l1,l0)
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STEP 71.1: leave(left,shaker1)
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STEP 72: grasp(left,shot9) grasp(right,shaker1)
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STEP 73: leave(left,shot9)
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STEP 74.0: clean-shaker(right,left,shaker1)
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STEP 74.1: grasp(left,shot10) leave(right,shaker1)
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STEP 75.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 75.1: leave(left,shot10)
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STEP 76.0: fill-shot(shot9,ingredient3,right,left,dispenser3)
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STEP 76.1: grasp(left,shaker1)
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STEP 77.0: leave(left,shaker1) pour-shot-to-used-shaker(shot9,ingredient3,shaker1,right,l1,l2)
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STEP 77.1: leave(right,shot9)
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STEP 78: grasp(right,shaker1)
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STEP 79.0: shake(cocktail8,ingredient2,ingredient3,shaker1,right,left)
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STEP 79.1: grasp(left,shot7) leave(right,shaker1)
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STEP 80.0: clean-shot(shot7,ingredient3,left,right)
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STEP 80.1: grasp(right,shaker1) leave(left,shot7)
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STEP 81.0: grasp(left,shot9) pour-shaker-to-shot(cocktail8,shot7,right,shaker1,l2,l1)
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STEP 81.1: leave(right,shaker1)
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STEP 82.0: refill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 82.1: grasp(right,shot10) leave(left,shot9)
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STEP 83.0: refill-shot(shot10,ingredient2,right,left,dispenser2)
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STEP 83.1: leave(right,shot10)
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STEP 84: grasp(left,shot10) grasp(right,shaker1)
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STEP 85: empty-shaker(right,shaker1,cocktail8,l1,l0) leave(left,shot10)
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STEP 86.0: clean-shaker(right,left,shaker1)
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STEP 86.1: grasp(left,shot10) leave(right,shaker1)
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STEP 87: pour-shot-to-clean-shaker(shot10,ingredient2,shaker1,left,l0,l1)
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STEP 88: clean-shot(shot10,ingredient2,left,right)
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STEP 89.0: fill-shot(shot10,ingredient1,left,right,dispenser1)
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STEP 89.1: grasp(right,shaker1)
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STEP 90.0: pour-shot-to-used-shaker(shot10,ingredient1,shaker1,left,l1,l2)
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STEP 90.1: leave(left,shot10)
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STEP 91.0: shake(cocktail7,ingredient1,ingredient2,shaker1,right,left)
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STEP 91.1: grasp(left,shot8) leave(right,shaker1)
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STEP 92.0: clean-shot(shot8,ingredient2,left,right)
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STEP 92.1: grasp(right,shaker1)
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STEP 93: pour-shaker-to-shot(cocktail7,shot8,right,shaker1,l2,l1)
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212 actions in the plan.
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Cost of the plan is 383.
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# statistics in YAML format
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---
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runtime:
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total: 0.38 # [s]
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preprocessing: 0.04 # [s]
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maxLearnedClauseLength: 6080
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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: 100
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actions: 212
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iterations:
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...
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