243 lines
11 KiB
Plaintext
243 lines
11 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-5.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: 2276 ground actions and 391 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: 1420 ground actions and 267 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 264)
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Plan type: E-step
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Allocated 32 MB permanent (total 131 MB)
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Horizon 115: 303522 variables
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Allocated 32 MB (total 259 MB)
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SAT (0 ID 1432 decisions 653 conflicts 303522 variables)
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PLAN FOUND: 115 steps
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STEP 0: grasp(right,shot11)
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STEP 1.0: fill-shot(shot11,ingredient3,right,left,dispenser3)
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STEP 1.1: grasp(left,shot7)
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STEP 2.0: pour-shot-to-clean-shaker(shot11,ingredient3,shaker1,right,l0,l1)
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STEP 2.1: leave(right,shot11)
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STEP 3.0: fill-shot(shot7,ingredient4,left,right,dispenser4)
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STEP 3.1: grasp(right,shaker1)
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STEP 4.0: pour-shot-to-used-shaker(shot7,ingredient4,shaker1,left,l1,l2)
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STEP 4.1: leave(left,shot7)
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STEP 5.0: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
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STEP 5.1: grasp(left,shot6)
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STEP 6: pour-shaker-to-shot(cocktail7,shot1,right,shaker1,l2,l1)
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STEP 7.0: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 7.1: leave(right,shaker1)
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STEP 8.0: fill-shot(shot6,ingredient1,left,right,dispenser1)
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STEP 8.1: grasp(right,shaker1) leave(left,shot6)
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STEP 9.0: clean-shaker(right,left,shaker1)
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STEP 9.1: grasp(left,shot6) leave(right,shaker1)
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STEP 10.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot6,ingredient1,shaker1,left,l0,l1)
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STEP 10.1: leave(left,shot6)
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STEP 11.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
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STEP 11.1: grasp(left,shaker1)
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STEP 12.0: pour-shot-to-used-shaker(shot10,ingredient4,shaker1,right,l1,l2)
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STEP 12.1: leave(right,shot10)
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STEP 13: shake(cocktail9,ingredient1,ingredient4,shaker1,left,right)
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STEP 14: pour-shaker-to-shot(cocktail9,shot2,left,shaker1,l2,l1)
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STEP 15: empty-shaker(left,shaker1,cocktail9,l1,l0)
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STEP 16.0: clean-shaker(left,right,shaker1)
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STEP 16.1: grasp(right,shot11) leave(left,shaker1)
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STEP 17: clean-shot(shot11,ingredient3,right,left)
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STEP 18.0: fill-shot(shot11,ingredient1,right,left,dispenser1)
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STEP 18.1: grasp(left,shot5) leave(right,shot11)
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STEP 19.0: fill-shot(shot5,ingredient3,left,right,dispenser3)
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STEP 19.1: grasp(right,shaker1) leave(left,shot5)
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STEP 20: grasp(left,shot11) leave(right,shaker1)
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STEP 21.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
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STEP 21.1: leave(left,shot11)
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STEP 22.0: grasp(left,shot11) pour-shot-to-used-shaker(shot5,ingredient3,shaker1,right,l1,l2)
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STEP 22.1: leave(right,shot5)
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STEP 23.0: refill-shot(shot11,ingredient1,left,right,dispenser1)
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STEP 23.1: grasp(right,shaker1) leave(left,shot11)
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STEP 24: shake(cocktail1,ingredient3,ingredient1,shaker1,right,left)
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STEP 25: pour-shaker-to-shot(cocktail1,shot4,right,shaker1,l2,l1)
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STEP 26: empty-shaker(right,shaker1,cocktail1,l1,l0)
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STEP 27.0: clean-shaker(right,left,shaker1)
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STEP 27.1: grasp(left,shot11) leave(right,shaker1)
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STEP 28.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
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STEP 28.1: leave(left,shot11)
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STEP 29.0: refill-shot(shot5,ingredient3,right,left,dispenser3)
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STEP 29.1: grasp(left,shaker1)
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STEP 30.0: pour-shot-to-used-shaker(shot5,ingredient3,shaker1,right,l1,l2)
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STEP 30.1: leave(right,shot5)
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STEP 31.0: shake(cocktail6,ingredient3,ingredient1,shaker1,left,right)
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STEP 31.1: grasp(right,shot11)
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STEP 32.0: pour-shaker-to-shot(cocktail6,shot3,left,shaker1,l2,l1)
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STEP 32.1: leave(left,shaker1)
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STEP 33: clean-shot(shot11,ingredient1,right,left)
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STEP 34.0: fill-shot(shot11,ingredient3,right,left,dispenser3)
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STEP 34.1: grasp(left,shaker1) leave(right,shot11)
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STEP 35.0: empty-shaker(left,shaker1,cocktail6,l1,l0) grasp(right,shot9)
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STEP 35.1: leave(left,shaker1)
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STEP 36.0: fill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 36.1: grasp(left,shot5) leave(right,shot9)
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STEP 37.0: clean-shot(shot5,ingredient3,left,right)
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STEP 37.1: grasp(right,shaker1) leave(left,shot5)
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STEP 38.0: clean-shaker(right,left,shaker1)
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STEP 38.1: leave(right,shaker1)
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STEP 39: grasp(left,shaker1) grasp(right,shot11)
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STEP 40.0: pour-shot-to-clean-shaker(shot11,ingredient3,shaker1,right,l0,l1)
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STEP 40.1: leave(right,shot11)
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STEP 41: grasp(right,shot9)
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STEP 42.0: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,right,l1,l2)
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STEP 42.1: leave(right,shot9)
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STEP 43.0: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
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STEP 43.1: grasp(right,shot11)
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STEP 44.0: pour-shaker-to-shot(cocktail5,shot5,left,shaker1,l2,l1)
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STEP 44.1: leave(left,shaker1)
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STEP 45.0: clean-shot(shot11,ingredient3,right,left)
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STEP 45.1: grasp(left,shaker1)
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STEP 46.0: empty-shaker(left,shaker1,cocktail5,l1,l0)
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STEP 46.1: leave(left,shaker1)
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STEP 47.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
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STEP 47.1: grasp(left,shot10) leave(right,shot11)
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STEP 48.0: clean-shot(shot10,ingredient4,left,right)
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STEP 48.1: grasp(right,shot8) leave(left,shot10)
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STEP 49.0: fill-shot(shot8,ingredient3,right,left,dispenser3)
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STEP 49.1: grasp(left,shaker1) leave(right,shot8)
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STEP 50.0: clean-shaker(left,right,shaker1)
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STEP 50.1: grasp(right,shot11) leave(left,shaker1)
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STEP 51.0: grasp(left,shot8) pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,right,l0,l1)
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STEP 51.1: leave(right,shot11)
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STEP 52.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
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STEP 52.1: leave(left,shot8)
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STEP 53.0: shake(cocktail4,ingredient2,ingredient3,shaker1,right,left)
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STEP 53.1: leave(right,shaker1)
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STEP 54: grasp(left,shaker1) grasp(right,shot6)
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STEP 55: leave(left,shaker1)
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STEP 56.0: clean-shot(shot6,ingredient1,right,left)
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STEP 56.1: grasp(left,shaker1) leave(right,shot6)
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STEP 57.0: grasp(right,shot11) pour-shaker-to-shot(cocktail4,shot6,left,shaker1,l2,l1)
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STEP 57.1: leave(left,shaker1)
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STEP 58.0: clean-shot(shot11,ingredient2,right,left)
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STEP 58.1: grasp(left,shot7) leave(right,shot11)
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STEP 59.0: clean-shot(shot7,ingredient4,left,right)
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STEP 59.1: grasp(right,shaker1) leave(left,shot7)
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STEP 60.0: empty-shaker(right,shaker1,cocktail4,l1,l0) grasp(left,shot10)
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STEP 60.1: leave(right,shaker1)
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STEP 61.0: fill-shot(shot10,ingredient1,left,right,dispenser1)
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STEP 61.1: grasp(right,shot11) leave(left,shot10)
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STEP 62.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
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STEP 62.1: grasp(left,shot10) leave(right,shot11)
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STEP 63: grasp(right,shaker1) leave(left,shot10)
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STEP 64.0: clean-shaker(right,left,shaker1)
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STEP 64.1: grasp(left,shot10) leave(right,shaker1)
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STEP 65.0: grasp(right,shaker1) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,left,l0,l1)
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STEP 65.1: leave(left,shot10)
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STEP 66: grasp(left,shot11)
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STEP 67.0: pour-shot-to-used-shaker(shot11,ingredient2,shaker1,left,l1,l2)
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STEP 67.1: leave(left,shot11)
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STEP 68.0: shake(cocktail2,ingredient2,ingredient1,shaker1,right,left)
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STEP 68.1: grasp(left,shot8)
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STEP 69: pour-shaker-to-shot(cocktail2,shot7,right,shaker1,l2,l1)
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STEP 70.0: empty-shaker(right,shaker1,cocktail2,l1,l0)
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STEP 70.1: leave(right,shaker1)
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STEP 71.0: clean-shot(shot8,ingredient3,left,right)
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STEP 71.1: grasp(right,shot10) leave(left,shot8)
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STEP 72: clean-shot(shot10,ingredient1,right,left)
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STEP 73.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
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STEP 73.1: grasp(left,shot11) leave(right,shot10)
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STEP 74.0: refill-shot(shot11,ingredient2,left,right,dispenser2)
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STEP 74.1: grasp(right,shot8) leave(left,shot11)
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STEP 75.0: fill-shot(shot8,ingredient1,right,left,dispenser1)
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STEP 75.1: grasp(left,shaker1) leave(right,shot8)
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STEP 76.0: clean-shaker(left,right,shaker1)
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STEP 76.1: grasp(right,shot8) leave(left,shaker1)
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STEP 77.0: grasp(left,shot10) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,right,l0,l1)
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STEP 77.1: leave(right,shot8)
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STEP 78.0: empty-shot(left,shot10,ingredient3) grasp(right,shot11)
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STEP 78.1: leave(left,shot10)
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STEP 79.0: grasp(left,shot8) pour-shot-to-used-shaker(shot11,ingredient2,shaker1,right,l1,l2)
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STEP 79.1: leave(right,shot11)
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STEP 80.0: clean-shot(shot8,ingredient1,left,right)
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STEP 80.1: grasp(right,shaker1) leave(left,shot8)
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STEP 81.0: shake(cocktail8,ingredient1,ingredient2,shaker1,right,left)
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STEP 81.1: grasp(left,shot11)
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STEP 82.0: leave(left,shot11) pour-shaker-to-shot(cocktail8,shot8,right,shaker1,l2,l1)
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STEP 82.1: leave(right,shaker1)
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STEP 83: grasp(right,shot10)
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STEP 84.0: clean-shot(shot10,ingredient3,right,left)
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STEP 84.1: grasp(left,shaker1) leave(right,shot10)
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STEP 85.0: pour-shaker-to-shot(cocktail8,shot10,left,shaker1,l1,l0)
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STEP 85.1: leave(left,shaker1)
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STEP 86: grasp(left,shot11) grasp(right,shaker1)
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STEP 87.0: empty-shaker(right,shaker1,cocktail8,l0,l0)
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STEP 87.1: leave(right,shaker1)
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STEP 88: clean-shot(shot11,ingredient2,left,right)
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STEP 89.0: fill-shot(shot11,ingredient1,left,right,dispenser1)
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STEP 89.1: grasp(right,shot9) leave(left,shot11)
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STEP 90.0: clean-shot(shot9,ingredient2,right,left)
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STEP 90.1: leave(right,shot9)
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STEP 91: grasp(left,shot9)
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STEP 92.0: fill-shot(shot9,ingredient2,left,right,dispenser2)
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STEP 92.1: grasp(right,shaker1) leave(left,shot9)
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STEP 93.0: clean-shaker(right,left,shaker1)
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STEP 93.1: grasp(left,shot9) leave(right,shaker1)
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STEP 94.0: grasp(right,shot11) pour-shot-to-clean-shaker(shot9,ingredient2,shaker1,left,l0,l1)
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STEP 94.1: leave(left,shot9)
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STEP 95.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot11,ingredient1,shaker1,right,l1,l2)
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STEP 95.1: leave(right,shot11)
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STEP 96.0: shake(cocktail8,ingredient1,ingredient2,shaker1,left,right)
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STEP 96.1: grasp(right,shot11) leave(left,shaker1)
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STEP 97.0: refill-shot(shot11,ingredient1,right,left,dispenser1)
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STEP 97.1: grasp(left,shot9)
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STEP 98: empty-shot(right,shot11,ingredient1) leave(left,shot9)
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STEP 99.0: clean-shot(shot11,ingredient1,right,left)
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STEP 99.1: grasp(left,shaker1) leave(right,shot11)
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STEP 100: empty-shaker(left,shaker1,cocktail8,l2,l0)
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STEP 101.0: clean-shaker(left,right,shaker1)
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STEP 101.1: grasp(right,shot11) leave(left,shaker1)
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STEP 102.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
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STEP 102.1: grasp(left,shot9) leave(right,shot11)
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STEP 103: clean-shot(shot9,ingredient2,left,right)
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STEP 104.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
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STEP 104.1: grasp(right,shot11) leave(left,shot9)
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STEP 105: pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,right,l0,l1)
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STEP 106: clean-shot(shot11,ingredient2,right,left)
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STEP 107.0: fill-shot(shot11,ingredient1,right,left,dispenser1)
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STEP 107.1: grasp(left,shaker1)
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STEP 108.0: leave(left,shaker1) pour-shot-to-used-shaker(shot11,ingredient1,shaker1,right,l1,l2)
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STEP 108.1: leave(right,shot11)
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STEP 109: grasp(left,shot9) grasp(right,shaker1)
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STEP 110.0: empty-shot(left,shot9,ingredient3)
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STEP 110.1: leave(left,shot9)
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STEP 111.0: shake(cocktail3,ingredient1,ingredient2,shaker1,right,left)
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STEP 111.1: grasp(left,shot9) leave(right,shaker1)
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STEP 112.0: clean-shot(shot9,ingredient3,left,right)
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STEP 112.1: grasp(right,shaker1)
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STEP 113: pour-shaker-to-shot(cocktail3,shot9,right,shaker1,l2,l1)
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258 actions in the plan.
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Cost of the plan is 465.
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# statistics in YAML format
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---
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runtime:
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total: 0.33 # [s]
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preprocessing: 0.05 # [s]
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maxLearnedClauseLength: 9789
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groundActions:
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afterParsing: 2276
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afterPreprocessing: 1420
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stateVariables:
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afterParsing: 391
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afterPreprocessing: 267
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stronglyConnectedComponents:
|
||
|
|
maxSize: 264
|
||
|
|
plan:
|
||
|
|
found: true
|
||
|
|
length: 115
|
||
|
|
actions: 258
|
||
|
|
iterations:
|
||
|
|
...
|
||
|
|
|