(define (domain grounded-STRIPS-PSR) (:requirements :strips ) (:predicates (NOT-CLOSED-CB1) (UPDATED-CB1) (NOT-CLOSED-CB2) (UPDATED-CB2) (NOT-CLOSED-CB4) (UPDATED-CB4) (CLOSED-SD3) (NOT-CLOSED-CB3) (CLOSED-SD6) (CLOSED-SD8) (CLOSED-SD12) (NOT-CLOSED-SD1) (NOT-CLOSED-SD2) (NOT-CLOSED-SD4) (NOT-CLOSED-SD5) (NOT-CLOSED-SD7) (NOT-CLOSED-SD9) (NOT-CLOSED-SD10) (NOT-CLOSED-SD11) (NOT-CLOSED-SD13) (NOT-CLOSED-SD14) (NOT-CLOSED-SD15) (NOT-CLOSED-SD16) (NOT-UPDATED-CB3) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-CB2) (UPDATED-CB3) (CLOSED-SD16) (CLOSED-SD15) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD2) (CLOSED-SD1) (CLOSED-CB1) (NOT-CLOSED-SD12) (NOT-CLOSED-SD8) (NOT-CLOSED-SD6) (NOT-CLOSED-SD3) (NOT-UPDATED-CB4) (NOT-UPDATED-CB2) (NOT-UPDATED-CB1) (GOAL-REACHED) (do-CLOSE_SD16-condeffs) (do-CLOSE_SD11-condeffs) (do-CLOSE_SD10-condeffs) (do-CLOSE_SD9-condeffs) (do-CLOSE_SD7-condeffs) (do-CLOSE_SD4-condeffs) (do-WAIT_CB3-condeffs) (do-CLOSE_SD8-condeffs) (do-CLOSE_SD6-condeffs) (do-WAIT_CB4-condeffs) (do-WAIT_CB2-condeffs) (do-normal) (done-0) (done-1) ) (:action REACH-GOAL-0 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-1 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-2 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-3 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-4 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-5 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-6 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-7 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-8 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-9 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-10 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-11 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-12 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-13 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-14 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-15 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-16 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-17 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-18 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-19 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-20 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-21 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-22 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-23 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-24 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-25 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-26 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-27 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-28 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-29 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-30 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-31 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-32 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-33 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-34 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-35 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-36 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-37 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-38 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-39 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-40 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-41 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-42 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-43 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-44 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-45 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-46 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-47 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-48 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-49 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-50 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-51 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-52 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-53 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-54 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-55 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-56 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-57 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-58 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-59 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-60 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-61 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-62 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD7) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-63 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB3) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-64 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB4) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-65 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-66 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-67 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-68 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-69 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-70 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-71 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-72 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-73 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-74 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-75 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-76 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-77 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-78 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-79 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-80 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-81 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-82 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-83 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-84 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-85 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-86 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-87 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-88 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-89 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-90 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-91 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-92 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-93 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-94 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-95 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-96 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-97 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-98 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-99 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-100 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-101 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-102 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-103 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-104 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-105 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-106 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-107 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-108 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-109 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-110 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-111 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-112 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-113 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-114 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-115 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-116 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-117 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-118 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-119 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-120 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-121 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-122 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-123 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-124 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-125 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-126 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD7) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-127 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB3) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-128 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB4) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-129 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-130 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-131 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-132 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-133 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-134 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-135 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-136 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-137 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-138 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-139 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-140 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-141 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-142 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-143 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-144 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-145 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-146 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-147 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-148 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-149 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-150 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-151 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-152 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-153 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-154 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-155 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-156 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-157 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-158 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-159 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-160 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-161 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-162 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-163 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-164 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-165 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-166 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-167 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-168 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-169 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-170 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-171 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-172 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-173 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-174 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-175 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-176 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-177 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-178 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-179 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-180 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-181 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-182 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-183 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-184 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-185 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-186 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-187 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-188 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD8) (CLOSED-SD13) (CLOSED-SD16) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-189 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-190 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD7) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-191 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB3) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-192 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB4) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-193 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-194 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-195 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-196 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-197 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-198 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-199 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-200 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-201 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-202 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-203 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-204 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-205 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-206 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-207 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-208 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-209 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-210 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-211 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-212 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-213 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-214 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-215 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-216 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-217 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-218 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-219 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-220 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-221 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-222 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-223 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-224 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-225 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-226 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-227 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-228 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-229 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-230 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-231 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-232 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-233 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-234 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-235 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-236 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-237 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-238 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-239 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-240 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-241 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-242 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-243 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-244 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-245 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-246 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-247 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-248 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-249 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-250 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-251 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-252 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD16) (CLOSED-SD13) (CLOSED-SD8) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-253 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-254 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD7) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-255 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-CB3) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-256 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-CB4) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-257 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-258 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-259 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-260 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-261 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-262 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-263 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-264 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-265 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-266 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-267 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-268 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-269 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-270 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-271 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-272 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-273 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-274 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-275 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-276 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-277 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-278 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-279 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-280 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-281 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-282 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-283 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-284 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-285 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-286 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-287 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-288 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-289 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-290 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-291 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-292 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-293 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-294 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-295 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-296 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-297 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-298 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-299 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-300 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-301 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-302 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-303 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-304 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-305 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-306 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-307 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-308 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-309 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-310 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-311 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-312 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-313 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-314 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-315 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-316 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-317 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-318 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD7) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-319 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB3) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-320 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB4) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-321 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-322 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-323 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-324 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-325 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-326 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-327 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-328 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-329 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-330 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-331 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-332 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-333 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-334 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-335 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-336 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-337 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-338 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-339 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-340 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-341 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-342 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-343 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-344 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-345 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-346 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-347 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-348 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-349 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-350 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-351 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-352 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-353 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-354 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-355 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-356 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-357 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-358 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-359 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-360 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-361 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-362 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-363 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-364 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-365 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-366 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-367 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-368 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-369 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-370 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-371 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-372 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-373 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-374 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-375 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-376 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-377 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-378 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-379 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-380 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-381 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-382 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD7) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-383 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB3) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-384 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB4) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-385 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-386 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-387 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-388 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-389 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-390 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-391 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-392 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-393 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-394 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-395 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-396 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-397 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-398 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-399 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-400 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-401 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-402 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-403 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-404 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-405 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-406 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-407 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-408 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-409 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-410 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-411 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-412 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-413 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-414 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-415 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-416 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-417 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-418 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-419 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-420 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-421 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-422 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-423 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-424 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-425 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-426 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-427 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-428 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-429 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-430 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-431 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-432 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-433 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-434 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-435 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-436 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-437 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-438 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-439 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-440 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-441 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-442 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-443 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-444 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD8) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-445 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-446 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD7) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-447 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB3) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-448 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-CB4) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-449 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-450 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-451 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-452 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-453 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-454 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-455 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-456 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-457 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-458 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-459 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-460 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-461 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-462 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-463 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-464 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-465 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-466 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-467 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-468 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-469 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-470 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-471 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-472 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-473 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-474 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-475 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-476 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-477 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-478 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD7) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-479 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB3) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-480 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-CB4) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-481 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-482 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-483 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-484 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-485 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-486 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-487 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-488 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-489 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-490 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-491 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-492 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-493 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-494 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD7) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-495 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-CB3) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-496 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-CB4) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-497 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-498 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-499 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-500 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-501 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-502 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-503 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-504 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-505 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-506 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-507 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-508 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-SD7) (CLOSED-CB4) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD16) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-509 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-510 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB3) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action REACH-GOAL-511 :parameters () :precondition (and (do-normal) (UPDATED-CB4) (UPDATED-CB3) (UPDATED-CB2) (UPDATED-CB1) (CLOSED-CB2) (CLOSED-CB4) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD10) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD15) ) :effect (and (GOAL-REACHED) ) ) (:action CLOSE_SD16 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD16) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD16-condeffs) (CLOSED-SD16) (not (NOT-CLOSED-SD16)) ) ) (:action CLOSE_SD16-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD16-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff0-no-5 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD16-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (CLOSED-SD6) (CLOSED-SD8) (CLOSED-CB4) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD16-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD16-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-1) ) ) (:action CLOSE_SD16-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-1) ) ) (:action CLOSE_SD16-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD16-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD16-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD15 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD15) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD15) (not (NOT-CLOSED-SD15)) ) ) (:action CLOSE_SD14 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD14) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD14) (not (NOT-CLOSED-SD14)) ) ) (:action CLOSE_SD13 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD13) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD13) (not (NOT-CLOSED-SD13)) ) ) (:action CLOSE_SD11 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD11) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD11-condeffs) (CLOSED-SD11) (not (NOT-CLOSED-SD11)) ) ) (:action CLOSE_SD11-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD11-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-condeff0-no-5 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-CB4) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD11-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-1) ) ) (:action CLOSE_SD11-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-1) ) ) (:action CLOSE_SD11-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-1) ) ) (:action CLOSE_SD11-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD11-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD10 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD10) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD10-condeffs) (CLOSED-SD10) (not (NOT-CLOSED-SD10)) ) ) (:action CLOSE_SD10-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (CLOSED-SD11) (CLOSED-SD9) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD10-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff0-no-5 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (CLOSED-SD11) (CLOSED-SD9) (CLOSED-CB4) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD10-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-1) ) ) (:action CLOSE_SD10-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-1) ) ) (:action CLOSE_SD10-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-1) ) ) (:action CLOSE_SD10-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD10-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD9 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD9) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD9-condeffs) (CLOSED-SD9) (not (NOT-CLOSED-SD9)) ) ) (:action CLOSE_SD9-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD9-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff0-no-5 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-CB4) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD9-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-1) ) ) (:action CLOSE_SD9-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-1) ) ) (:action CLOSE_SD9-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-1) ) ) (:action CLOSE_SD9-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD9-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD7 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD7) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD7-condeffs) (CLOSED-SD7) (not (NOT-CLOSED-SD7)) ) ) (:action CLOSE_SD7-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (CLOSED-SD6) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD7-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action CLOSE_SD7-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD7-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-CB3) ) :effect (and (done-1) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD7-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-3 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-4 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-condeff1-no-5 :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-1) ) ) (:action CLOSE_SD7-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD7-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD7-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD5 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD5) (not (NOT-CLOSED-SD5)) ) ) (:action CLOSE_SD4 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD4-condeffs) (CLOSED-SD4) (not (NOT-CLOSED-SD4)) ) ) (:action CLOSE_SD4-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD4-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD4-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD2 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD2) (not (NOT-CLOSED-SD2)) ) ) (:action CLOSE_SD1 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD1) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD1) (not (NOT-CLOSED-SD1)) ) ) (:action CLOSE_CB4 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-CB4) (NOT-UPDATED-CB4) (not (NOT-CLOSED-CB4)) (not (UPDATED-CB4)) ) ) (:action WAIT_CB3 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB3) ) :effect (and (not (do-normal)) (do-WAIT_CB3-condeffs) (UPDATED-CB3) (not (NOT-UPDATED-CB3)) ) ) (:action WAIT_CB3-condeff0-yes :parameters () :precondition (and (do-WAIT_CB3-condeffs) (CLOSED-SD6) (CLOSED-SD7) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action WAIT_CB3-condeff0-no-0 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action WAIT_CB3-condeff0-no-1 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action WAIT_CB3-condeff1-yes :parameters () :precondition (and (do-WAIT_CB3-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD16) (CLOSED-SD8) (CLOSED-SD7) ) :effect (and (done-1) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action WAIT_CB3-condeff1-no-0 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff1-no-1 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff1-no-2 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff1-no-3 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff1-no-4 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff1-no-5 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-1) ) ) (:action WAIT_CB3-endof-condeffs :parameters () :precondition (and (do-WAIT_CB3-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-WAIT_CB3-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_CB3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-CB3) (NOT-UPDATED-CB3) (not (NOT-CLOSED-CB3)) (not (UPDATED-CB3)) ) ) (:action CLOSE_CB2 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-CB2) (NOT-UPDATED-CB2) (not (NOT-CLOSED-CB2)) (not (UPDATED-CB2)) ) ) (:action CLOSE_CB1 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB1) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-CB1) (NOT-UPDATED-CB1) (not (NOT-CLOSED-CB1)) (not (UPDATED-CB1)) ) ) (:action OPEN-SD16 :parameters () :precondition (and (do-normal) (CLOSED-SD16) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD16) (not (CLOSED-SD16)) ) ) (:action OPEN-SD15 :parameters () :precondition (and (do-normal) (CLOSED-SD15) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD15) (not (CLOSED-SD15)) ) ) (:action OPEN-SD14 :parameters () :precondition (and (do-normal) (CLOSED-SD14) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD14) (not (CLOSED-SD14)) ) ) (:action OPEN-SD13 :parameters () :precondition (and (do-normal) (CLOSED-SD13) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD13) (not (CLOSED-SD13)) ) ) (:action OPEN-SD12 :parameters () :precondition (and (do-normal) (CLOSED-SD12) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD12) (not (CLOSED-SD12)) ) ) (:action OPEN-SD11 :parameters () :precondition (and (do-normal) (CLOSED-SD11) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD11) (not (CLOSED-SD11)) ) ) (:action OPEN-SD10 :parameters () :precondition (and (do-normal) (CLOSED-SD10) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD10) (not (CLOSED-SD10)) ) ) (:action OPEN-SD9 :parameters () :precondition (and (do-normal) (CLOSED-SD9) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD9) (not (CLOSED-SD9)) ) ) (:action OPEN-SD8 :parameters () :precondition (and (do-normal) (CLOSED-SD8) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD8) (not (CLOSED-SD8)) ) ) (:action OPEN-SD7 :parameters () :precondition (and (do-normal) (CLOSED-SD7) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD7) (not (CLOSED-SD7)) ) ) (:action OPEN-SD6 :parameters () :precondition (and (do-normal) (CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD6) (not (CLOSED-SD6)) ) ) (:action OPEN-SD5 :parameters () :precondition (and (do-normal) (CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD5) (not (CLOSED-SD5)) ) ) (:action OPEN-SD4 :parameters () :precondition (and (do-normal) (CLOSED-SD4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD4) (not (CLOSED-SD4)) ) ) (:action OPEN-SD3 :parameters () :precondition (and (do-normal) (CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD3) (not (CLOSED-SD3)) ) ) (:action OPEN-SD2 :parameters () :precondition (and (do-normal) (CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD2) (not (CLOSED-SD2)) ) ) (:action OPEN-SD1 :parameters () :precondition (and (do-normal) (CLOSED-SD1) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD1) (not (CLOSED-SD1)) ) ) (:action OPEN-CB4 :parameters () :precondition (and (do-normal) (CLOSED-CB4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action OPEN-CB3 :parameters () :precondition (and (do-normal) (CLOSED-CB3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action OPEN-CB2 :parameters () :precondition (and (do-normal) (CLOSED-CB2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action OPEN-CB1 :parameters () :precondition (and (do-normal) (CLOSED-CB1) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action CLOSE_SD12 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD12) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD12) (not (NOT-CLOSED-SD12)) ) ) (:action CLOSE_SD8 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD8) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD8-condeffs) (CLOSED-SD8) (not (NOT-CLOSED-SD8)) ) ) (:action CLOSE_SD8-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD16) (CLOSED-SD7) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD8-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-2 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-3 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-4 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff0-no-5 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (CLOSED-SD6) (CLOSED-SD16) (CLOSED-CB4) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD8-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action CLOSE_SD8-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-1) ) ) (:action CLOSE_SD8-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-1) ) ) (:action CLOSE_SD8-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD8-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD6 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD6-condeffs) (CLOSED-SD6) (not (NOT-CLOSED-SD6)) ) ) (:action CLOSE_SD6-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (CLOSED-SD7) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD6-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD7) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (CLOSED-SD8) (CLOSED-SD16) (CLOSED-CB4) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD6-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-condeff1-no-2 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-1) ) ) (:action CLOSE_SD6-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-CLOSE_SD6-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action CLOSE_SD3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD3) (not (NOT-CLOSED-SD3)) ) ) (:action WAIT_CB4 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB4) ) :effect (and (not (do-normal)) (do-WAIT_CB4-condeffs) (UPDATED-CB4) (not (NOT-UPDATED-CB4)) ) ) (:action WAIT_CB4-condeff0-yes :parameters () :precondition (and (do-WAIT_CB4-condeffs) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) ) :effect (and (done-0) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action WAIT_CB4-condeff0-no-0 :parameters () :precondition (and (do-WAIT_CB4-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-0) ) ) (:action WAIT_CB4-condeff0-no-1 :parameters () :precondition (and (do-WAIT_CB4-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-0) ) ) (:action WAIT_CB4-condeff0-no-2 :parameters () :precondition (and (do-WAIT_CB4-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action WAIT_CB4-condeff1-yes :parameters () :precondition (and (do-WAIT_CB4-condeffs) (CLOSED-SD6) (CLOSED-SD8) (CLOSED-SD16) ) :effect (and (done-1) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action WAIT_CB4-condeff1-no-0 :parameters () :precondition (and (do-WAIT_CB4-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-1) ) ) (:action WAIT_CB4-condeff1-no-1 :parameters () :precondition (and (do-WAIT_CB4-condeffs) (NOT-CLOSED-SD8) ) :effect (and (done-1) ) ) (:action WAIT_CB4-condeff1-no-2 :parameters () :precondition (and (do-WAIT_CB4-condeffs) (NOT-CLOSED-SD16) ) :effect (and (done-1) ) ) (:action WAIT_CB4-endof-condeffs :parameters () :precondition (and (do-WAIT_CB4-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-WAIT_CB4-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action WAIT_CB2 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB2) ) :effect (and (not (do-normal)) (do-WAIT_CB2-condeffs) (UPDATED-CB2) (not (NOT-UPDATED-CB2)) ) ) (:action WAIT_CB2-condeff0-yes :parameters () :precondition (and (do-WAIT_CB2-condeffs) (CLOSED-SD4) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action WAIT_CB2-condeff0-no-0 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD4) ) :effect (and (done-0) ) ) (:action WAIT_CB2-endof-condeffs :parameters () :precondition (and (do-WAIT_CB2-condeffs) (done-0) ) :effect (and (do-normal) (not (do-WAIT_CB2-condeffs)) (not (done-0)) ) ) (:action WAIT_CB1 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB1) ) :effect (and (NOT-CLOSED-CB1) (UPDATED-CB1) (not (CLOSED-CB1)) (not (NOT-UPDATED-CB1)) ) ) )