191 lines
8.9 KiB
Plaintext
191 lines
8.9 KiB
Plaintext
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-4.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192 -F 90 -T 90
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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 0.02 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 90: 205974 variables
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Allocated 32 MB (total 251 MB)
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SAT (0 ID 22956 decisions 10517 conflicts 205974 variables)
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PLAN FOUND: 90 steps
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STEP 0: grasp(right,shot10)
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STEP 1.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
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STEP 1.1: grasp(left,shot5)
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STEP 2.0: pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
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STEP 2.1: leave(right,shot10)
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STEP 3.0: fill-shot(shot5,ingredient2,left,right,dispenser2)
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STEP 3.1: grasp(right,shaker1)
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STEP 4.0: pour-shot-to-used-shaker(shot5,ingredient2,shaker1,left,l1,l2)
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STEP 4.1: leave(left,shot5)
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STEP 5.0: shake(cocktail5,ingredient2,ingredient4,shaker1,right,left)
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STEP 5.1: grasp(left,shot9)
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STEP 6.0: pour-shaker-to-shot(cocktail5,shot1,right,shaker1,l2,l1)
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STEP 6.1: leave(right,shaker1)
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STEP 7.0: fill-shot(shot9,ingredient2,left,right,dispenser2)
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STEP 7.1: grasp(right,shaker1) leave(left,shot9)
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STEP 8.0: empty-shaker(right,shaker1,cocktail5,l1,l0) grasp(left,shot10)
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STEP 8.1: leave(right,shaker1)
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STEP 9.0: refill-shot(shot10,ingredient4,left,right,dispenser4)
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STEP 9.1: grasp(right,shot7) leave(left,shot10)
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STEP 10.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 10.1: grasp(left,shaker1) leave(right,shot7)
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STEP 11.0: clean-shaker(left,right,shaker1)
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STEP 11.1: grasp(right,shot7) leave(left,shaker1)
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STEP 12.0: grasp(left,shot10) pour-shot-to-clean-shaker(shot7,ingredient3,shaker1,right,l0,l1)
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STEP 12.1: leave(right,shot7)
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STEP 13.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot10,ingredient4,shaker1,left,l1,l2)
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STEP 13.1: leave(left,shot10)
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STEP 14: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
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STEP 15: pour-shaker-to-shot(cocktail7,shot2,right,shaker1,l2,l1)
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STEP 16: empty-shaker(right,shaker1,cocktail7,l1,l0)
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STEP 17.0: clean-shaker(right,left,shaker1)
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STEP 17.1: grasp(left,shot6) leave(right,shaker1)
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STEP 18.0: fill-shot(shot6,ingredient3,left,right,dispenser3)
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STEP 18.1: grasp(right,shot9) leave(left,shot6)
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STEP 19.0: grasp(left,shot6) pour-shot-to-clean-shaker(shot9,ingredient2,shaker1,right,l0,l1)
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STEP 19.1: leave(right,shot9)
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STEP 20.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot6,ingredient3,shaker1,left,l1,l2)
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STEP 20.1: leave(left,shot6)
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STEP 21.0: shake(cocktail6,ingredient2,ingredient3,shaker1,right,left)
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STEP 21.1: grasp(left,shot8)
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STEP 22: pour-shaker-to-shot(cocktail6,shot3,right,shaker1,l2,l1)
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STEP 23.0: empty-shaker(right,shaker1,cocktail6,l1,l0)
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STEP 23.1: leave(right,shaker1)
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STEP 24.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 24.1: grasp(right,shaker1) leave(left,shot8)
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STEP 25.0: clean-shaker(right,left,shaker1)
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STEP 25.1: grasp(left,shot8) leave(right,shaker1)
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STEP 26.0: grasp(right,shot7) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 26.1: leave(left,shot8)
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STEP 27.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 27.1: grasp(left,shaker1)
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STEP 28.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 28.1: leave(right,shot7)
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STEP 29.0: shake(cocktail2,ingredient1,ingredient3,shaker1,left,right)
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STEP 29.1: grasp(right,shot10)
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STEP 30: pour-shaker-to-shot(cocktail2,shot4,left,shaker1,l2,l1)
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STEP 31.0: empty-shaker(left,shaker1,cocktail2,l1,l0)
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STEP 31.1: leave(left,shaker1)
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STEP 32.0: refill-shot(shot10,ingredient4,right,left,dispenser4)
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STEP 32.1: grasp(left,shot8) leave(right,shot10)
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STEP 33.0: refill-shot(shot8,ingredient1,left,right,dispenser1)
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STEP 33.1: grasp(right,shaker1) leave(left,shot8)
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STEP 34.0: clean-shaker(right,left,shaker1)
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STEP 34.1: leave(right,shaker1)
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STEP 35: grasp(left,shaker1) grasp(right,shot10)
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STEP 36: empty-shot(right,shot10,ingredient4) leave(left,shaker1)
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STEP 37.0: clean-shot(shot10,ingredient4,right,left)
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STEP 37.1: grasp(left,shot8) leave(right,shot10)
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STEP 38.0: grasp(right,shaker1) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
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STEP 38.1: leave(left,shot8)
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STEP 39: grasp(left,shot10) leave(right,shaker1)
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STEP 40.0: fill-shot(shot10,ingredient4,left,right,dispenser4)
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STEP 40.1: grasp(right,shot7) leave(left,shot10)
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STEP 41.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
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STEP 41.1: grasp(left,shot5) leave(right,shot7)
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STEP 42.0: clean-shot(shot5,ingredient2,left,right)
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STEP 42.1: grasp(right,shaker1) leave(left,shot5)
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STEP 43: leave(right,shaker1)
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STEP 44: grasp(left,shaker1) grasp(right,shot7)
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STEP 45.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
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STEP 45.1: leave(right,shot7)
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STEP 46: shake(cocktail1,ingredient1,ingredient3,shaker1,left,right)
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STEP 47: pour-shaker-to-shot(cocktail1,shot5,left,shaker1,l2,l1)
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STEP 48: empty-shaker(left,shaker1,cocktail1,l1,l0)
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STEP 49.0: clean-shaker(left,right,shaker1)
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STEP 49.1: grasp(right,shot10) leave(left,shaker1)
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STEP 50.0: grasp(left,shot6) pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
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STEP 50.1: leave(right,shot10)
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STEP 51.0: refill-shot(shot6,ingredient3,left,right,dispenser3)
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STEP 51.1: grasp(right,shot9)
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STEP 52: leave(right,shot9) pour-shot-to-used-shaker(shot6,ingredient3,shaker1,left,l1,l2)
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STEP 53.0: clean-shot(shot6,ingredient3,left,right)
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STEP 53.1: grasp(right,shaker1) leave(left,shot6)
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STEP 54.0: shake(cocktail4,ingredient3,ingredient4,shaker1,right,left)
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STEP 54.1: grasp(left,shot7)
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STEP 55.0: pour-shaker-to-shot(cocktail4,shot6,right,shaker1,l2,l1)
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STEP 55.1: leave(right,shaker1)
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STEP 56.0: clean-shot(shot7,ingredient3,left,right)
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STEP 56.1: grasp(right,shot10) leave(left,shot7)
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STEP 57: clean-shot(shot10,ingredient4,right,left)
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STEP 58.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
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STEP 58.1: grasp(left,shaker1) leave(right,shot10)
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STEP 59: empty-shaker(left,shaker1,cocktail4,l1,l0)
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STEP 60.0: clean-shaker(left,right,shaker1)
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STEP 60.1: grasp(right,shot10) leave(left,shaker1)
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STEP 61.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,right,l0,l1)
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STEP 61.1: leave(right,shot10)
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STEP 62.0: refill-shot(shot9,ingredient2,left,right,dispenser2)
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STEP 62.1: grasp(right,shaker1)
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STEP 63.0: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
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STEP 63.1: leave(left,shot9)
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STEP 64.0: shake(cocktail3,ingredient3,ingredient2,shaker1,right,left)
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STEP 64.1: grasp(left,shot10)
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STEP 65: pour-shaker-to-shot(cocktail3,shot7,right,shaker1,l2,l1)
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STEP 66.0: empty-shaker(right,shaker1,cocktail3,l1,l0)
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STEP 66.1: leave(right,shaker1)
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STEP 67.0: refill-shot(shot10,ingredient3,left,right,dispenser3)
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STEP 67.1: grasp(right,shaker1) leave(left,shot10)
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STEP 68.0: clean-shaker(right,left,shaker1)
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STEP 68.1: grasp(left,shot10) leave(right,shaker1)
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STEP 69.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,left,l0,l1)
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STEP 69.1: leave(left,shot10)
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STEP 70: refill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 71: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,right,l1,l2)
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STEP 72.0: refill-shot(shot9,ingredient2,right,left,dispenser2)
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STEP 72.1: grasp(left,shot10) leave(right,shot9)
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STEP 73.0: clean-shot(shot10,ingredient3,left,right)
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STEP 73.1: grasp(right,shaker1) leave(left,shot10)
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STEP 74.0: shake(cocktail6,ingredient2,ingredient3,shaker1,right,left)
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STEP 74.1: grasp(left,shot10)
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STEP 75.0: empty-shaker(right,shaker1,cocktail6,l2,l0)
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STEP 75.1: leave(right,shaker1)
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STEP 76.0: fill-shot(shot10,ingredient3,left,right,dispenser3)
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STEP 76.1: grasp(right,shaker1) leave(left,shot10)
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STEP 77.0: clean-shaker(right,left,shaker1)
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STEP 77.1: grasp(left,shot10) leave(right,shaker1)
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STEP 78.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,left,l0,l1)
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STEP 78.1: leave(left,shot10)
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STEP 79: leave(right,shot9)
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STEP 80: grasp(right,shot8)
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STEP 81: refill-shot(shot8,ingredient1,right,left,dispenser1)
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STEP 82: pour-shot-to-used-shaker(shot8,ingredient1,shaker1,right,l1,l2)
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STEP 83.0: clean-shot(shot8,ingredient1,right,left)
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STEP 83.1: grasp(left,shaker1) leave(right,shot8)
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STEP 84: shake(cocktail8,ingredient1,ingredient3,shaker1,left,right)
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STEP 85: pour-shaker-to-shot(cocktail8,shot8,left,shaker1,l2,l1)
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188 actions in the plan.
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Cost of the plan is 368.
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# statistics in YAML format
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---
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runtime:
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total: 2.84 # [s]
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preprocessing: 0.05 # [s]
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maxLearnedClauseLength: 8261
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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: 90
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actions: 188
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iterations:
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...
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