Type-checking grasp
...action passes type checking.
Type-checking leave
...action passes type checking.
Type-checking fill-shot
...action passes type checking.
Type-checking refill-shot
...action passes type checking.
Type-checking empty-shot
...action passes type checking.
Type-checking clean-shot
...action passes type checking.
Type-checking pour-shot-to-clean-shaker
...action passes type checking.
Type-checking pour-shot-to-used-shaker
...action passes type checking.
Type-checking empty-shaker
...action passes type checking.
Type-checking clean-shaker
...action passes type checking.
Type-checking shake
...action passes type checking.
Type-checking pour-shaker-to-shot
...action passes type checking.
Checking plan: <PATH_REMOVED>
Plan to validate:

Plan size: 24
1:
(grasp left shot3)
 
2:
(fill-shot shot3 ingredient1 left right dispenser1)
 
3:
(pour-shot-to-clean-shaker shot3 ingredient1 shaker1 left l0 l1)
 
4:
(clean-shot shot3 ingredient1 left right)
 
5:
(fill-shot shot3 ingredient2 left right dispenser2)
 
6:
(pour-shot-to-used-shaker shot3 ingredient2 shaker1 left l1 l2)
 
7:
(leave left shot3)
 
8:
(grasp left shaker1)
 
9:
(shake cocktail1 ingredient1 ingredient2 shaker1 left right)
 
10:
(pour-shaker-to-shot cocktail1 shot2 left shaker1 l2 l1)
 
11:
(empty-shaker left shaker1 cocktail1 l1 l0)
 
12:
(clean-shaker left right shaker1)
 
13:
(leave left shaker1)
 
14:
(grasp left shot3)
 
15:
(clean-shot shot3 ingredient2 left right)
 
16:
(fill-shot shot3 ingredient1 left right dispenser1)
 
17:
(pour-shot-to-clean-shaker shot3 ingredient1 shaker1 left l0 l1)
 
18:
(clean-shot shot3 ingredient1 left right)
 
19:
(fill-shot shot3 ingredient2 left right dispenser2)
 
20:
(pour-shot-to-used-shaker shot3 ingredient2 shaker1 left l1 l2)
 
21:
(leave left shot3)
 
22:
(grasp left shaker1)
 
23:
(shake cocktail2 ingredient1 ingredient2 shaker1 left right)
 
24:
(pour-shaker-to-shot cocktail2 shot1 left shaker1 l2 l1)
 

Plan Validation details
-----------------------

Checking next happening (time 1)
Deleting (ontable shot3)
Deleting (handempty left)
Adding (holding left shot3)

Checking next happening (time 2)
Deleting (empty shot3)
Deleting (clean shot3)
Adding (contains shot3 ingredient1)
Adding (used shot3 ingredient1)

Checking next happening (time 3)
Deleting (contains shot3 ingredient1)
Deleting (empty shaker1)
Deleting (clean shaker1)
Deleting (shaker-level shaker1 l0)
Adding (empty shot3)
Adding (contains shaker1 ingredient1)
Adding (unshaked shaker1)
Adding (shaker-level shaker1 l1)

Checking next happening (time 4)
Deleting (used shot3 ingredient1)
Adding (clean shot3)

Checking next happening (time 5)
Deleting (empty shot3)
Deleting (clean shot3)
Adding (contains shot3 ingredient2)
Adding (used shot3 ingredient2)

Checking next happening (time 6)
Deleting (contains shot3 ingredient2)
Deleting (shaker-level shaker1 l1)
Adding (contains shaker1 ingredient2)
Adding (empty shot3)
Adding (shaker-level shaker1 l2)

Checking next happening (time 7)
Deleting (holding left shot3)
Adding (handempty left)
Adding (ontable shot3)

Checking next happening (time 8)
Deleting (ontable shaker1)
Deleting (handempty left)
Adding (holding left shaker1)

Checking next happening (time 9)
Deleting (unshaked shaker1)
Deleting (contains shaker1 ingredient1)
Deleting (contains shaker1 ingredient2)
Adding (shaked shaker1)
Adding (contains shaker1 cocktail1)

Checking next happening (time 10)
Deleting (clean shot2)
Deleting (empty shot2)
Deleting (shaker-level shaker1 l2)
Adding (contains shot2 cocktail1)
Adding (shaker-level shaker1 l1)

Checking next happening (time 11)
Deleting (shaked shaker1)
Deleting (shaker-level shaker1 l1)
Deleting (contains shaker1 cocktail1)
Adding (shaker-level shaker1 l0)
Adding (empty shaker1)

Checking next happening (time 12)
Adding (clean shaker1)

Checking next happening (time 13)
Deleting (holding left shaker1)
Adding (handempty left)
Adding (ontable shaker1)

Checking next happening (time 14)
Deleting (ontable shot3)
Deleting (handempty left)
Adding (holding left shot3)

Checking next happening (time 15)
Deleting (used shot3 ingredient2)
Adding (clean shot3)

Checking next happening (time 16)
Deleting (empty shot3)
Deleting (clean shot3)
Adding (contains shot3 ingredient1)
Adding (used shot3 ingredient1)

Checking next happening (time 17)
Deleting (contains shot3 ingredient1)
Deleting (empty shaker1)
Deleting (clean shaker1)
Deleting (shaker-level shaker1 l0)
Adding (empty shot3)
Adding (contains shaker1 ingredient1)
Adding (unshaked shaker1)
Adding (shaker-level shaker1 l1)

Checking next happening (time 18)
Deleting (used shot3 ingredient1)
Adding (clean shot3)

Checking next happening (time 19)
Deleting (empty shot3)
Deleting (clean shot3)
Adding (contains shot3 ingredient2)
Adding (used shot3 ingredient2)

Checking next happening (time 20)
Deleting (contains shot3 ingredient2)
Deleting (shaker-level shaker1 l1)
Adding (contains shaker1 ingredient2)
Adding (empty shot3)
Adding (shaker-level shaker1 l2)

Checking next happening (time 21)
Deleting (holding left shot3)
Adding (handempty left)
Adding (ontable shot3)

Checking next happening (time 22)
Deleting (ontable shaker1)
Deleting (handempty left)
Adding (holding left shaker1)

Checking next happening (time 23)
Deleting (unshaked shaker1)
Deleting (contains shaker1 ingredient1)
Deleting (contains shaker1 ingredient2)
Adding (shaked shaker1)
Adding (contains shaker1 cocktail2)

Checking next happening (time 24)
Deleting (clean shot1)
Deleting (empty shot1)
Deleting (shaker-level shaker1 l2)
Adding (contains shot1 cocktail2)
Adding (shaker-level shaker1 l1)
Plan executed successfully - checking goal
Plan valid
Final value: 24 

Successful plans:
Value: 24
 <PATH_REMOVED> 24 


plan is valid!!