(define (domain grounded-STRIPS-PSR) (:requirements :strips ) (:predicates (NOT-CLOSED-CB1) (UPDATED-CB1) (NOT-CLOSED-CB2) (UPDATED-CB2) (NOT-CLOSED-CB3) (UPDATED-CB3) (CLOSED-SD4) (CLOSED-SD5) (CLOSED-SD11) (NOT-CLOSED-SD1) (NOT-CLOSED-SD2) (NOT-CLOSED-SD3) (NOT-CLOSED-SD6) (NOT-CLOSED-SD7) (NOT-CLOSED-SD8) (NOT-CLOSED-SD9) (NOT-CLOSED-SD10) (NOT-CLOSED-SD12) (CLOSED-CB3) (CLOSED-CB1) (CLOSED-SD12) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD8) (CLOSED-SD7) (CLOSED-SD6) (CLOSED-SD3) (CLOSED-SD2) (CLOSED-SD1) (CLOSED-CB2) (NOT-CLOSED-SD11) (NOT-CLOSED-SD5) (NOT-CLOSED-SD4) (NOT-UPDATED-CB3) (NOT-UPDATED-CB2) (NOT-UPDATED-CB1) (do-CLOSE_SD12-condeffs) (do-CLOSE_SD10-condeffs) (do-CLOSE_SD9-condeffs) (do-CLOSE_SD1-condeffs) (do-CLOSE_SD11-condeffs) (do-CLOSE_SD5-condeffs) (do-CLOSE_SD4-condeffs) (do-WAIT_CB3-condeffs) (do-WAIT_CB1-condeffs) (do-normal) (done-0) (done-1) (done-2) (done-3) ) (:action CLOSE_SD12 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD12) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (not (do-normal)) (do-CLOSE_SD12-condeffs) (CLOSED-SD12) (not (NOT-CLOSED-SD12)) ) ) (:action CLOSE_SD12-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD12-condeffs) (CLOSED-SD10) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD12-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD12-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-0) ) ) (:action CLOSE_SD12-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD12-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD12-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD12-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD12-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD10 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD10) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :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-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-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-condeff1-yes :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (CLOSED-SD12) (CLOSED-CB3) ) :effect (and (done-1) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD10-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-SD12) ) :effect (and (done-1) ) ) (:action CLOSE_SD10-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-CB3) ) :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) ) :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-SD4) (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-SD4) ) :effect (and (done-0) ) ) (:action CLOSE_SD9-condeff0-no-1 :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-SD5) (CLOSED-CB3) ) :effect (and (done-1) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD9-condeff1-no-0 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-1) ) ) (:action CLOSE_SD9-condeff1-no-1 :parameters () :precondition (and (do-CLOSE_SD9-condeffs) (NOT-CLOSED-CB3) ) :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_SD8 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD8) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (CLOSED-SD8) (not (NOT-CLOSED-SD8)) ) ) (:action CLOSE_SD7 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD7) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (CLOSED-SD7) (not (NOT-CLOSED-SD7)) ) ) (:action CLOSE_SD6 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (CLOSED-SD6) (not (NOT-CLOSED-SD6)) ) ) (:action CLOSE_SD3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (CLOSED-SD3) (not (NOT-CLOSED-SD3)) ) ) (:action CLOSE_SD2 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :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) ) :effect (and (not (do-normal)) (do-CLOSE_SD1-condeffs) (CLOSED-SD1) (not (NOT-CLOSED-SD1)) ) ) (:action CLOSE_SD1-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD1-condeffs) (CLOSED-CB1) ) :effect (and (done-0) (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action CLOSE_SD1-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD1-condeffs) (NOT-CLOSED-CB1) ) :effect (and (done-0) ) ) (:action CLOSE_SD1-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD1-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD1-condeffs)) (not (done-0)) ) ) (:action CLOSE_CB3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :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) ) :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) ) :effect (and (CLOSED-CB1) (NOT-UPDATED-CB1) (not (NOT-CLOSED-CB1)) (not (UPDATED-CB1)) ) ) (:action OPEN-SD12 :parameters () :precondition (and (do-normal) (CLOSED-SD12) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD12) (not (CLOSED-SD12)) ) ) (:action OPEN-SD11 :parameters () :precondition (and (do-normal) (CLOSED-SD11) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD11) (not (CLOSED-SD11)) ) ) (:action OPEN-SD10 :parameters () :precondition (and (do-normal) (CLOSED-SD10) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD10) (not (CLOSED-SD10)) ) ) (:action OPEN-SD9 :parameters () :precondition (and (do-normal) (CLOSED-SD9) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD9) (not (CLOSED-SD9)) ) ) (:action OPEN-SD8 :parameters () :precondition (and (do-normal) (CLOSED-SD8) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD8) (not (CLOSED-SD8)) ) ) (:action OPEN-SD7 :parameters () :precondition (and (do-normal) (CLOSED-SD7) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD7) (not (CLOSED-SD7)) ) ) (:action OPEN-SD6 :parameters () :precondition (and (do-normal) (CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD6) (not (CLOSED-SD6)) ) ) (:action OPEN-SD5 :parameters () :precondition (and (do-normal) (CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD5) (not (CLOSED-SD5)) ) ) (:action OPEN-SD4 :parameters () :precondition (and (do-normal) (CLOSED-SD4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD4) (not (CLOSED-SD4)) ) ) (:action OPEN-SD3 :parameters () :precondition (and (do-normal) (CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD3) (not (CLOSED-SD3)) ) ) (:action OPEN-SD2 :parameters () :precondition (and (do-normal) (CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD2) (not (CLOSED-SD2)) ) ) (:action OPEN-SD1 :parameters () :precondition (and (do-normal) (CLOSED-SD1) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-SD1) (not (CLOSED-SD1)) ) ) (:action OPEN-CB3 :parameters () :precondition (and (do-normal) (CLOSED-CB3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action OPEN-CB2 :parameters () :precondition (and (do-normal) (CLOSED-CB2) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action OPEN-CB1 :parameters () :precondition (and (do-normal) (CLOSED-CB1) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action CLOSE_SD11 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD11) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :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-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-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD11-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD11-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD11-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD5 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :effect (and (not (do-normal)) (do-CLOSE_SD5-condeffs) (CLOSED-SD5) (not (NOT-CLOSED-SD5)) ) ) (:action CLOSE_SD5-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (CLOSED-SD9) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD5-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-CB3) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD5-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD4 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) ) :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-SD9) (CLOSED-CB3) ) :effect (and (done-0) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action CLOSE_SD4-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action CLOSE_SD4-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD4-condeffs) (NOT-CLOSED-CB3) ) :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 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-SD4) (CLOSED-SD9) ) :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-SD4) ) :effect (and (done-0) ) ) (:action WAIT_CB3-condeff0-no-1 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-0) ) ) (:action WAIT_CB3-condeff1-yes :parameters () :precondition (and (do-WAIT_CB3-condeffs) (CLOSED-SD5) (CLOSED-SD9) ) :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-SD5) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff1-no-1 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD9) ) :effect (and (done-1) ) ) (:action WAIT_CB3-condeff2-yes :parameters () :precondition (and (do-WAIT_CB3-condeffs) (CLOSED-SD11) (CLOSED-SD10) ) :effect (and (done-2) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action WAIT_CB3-condeff2-no-0 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD11) ) :effect (and (done-2) ) ) (:action WAIT_CB3-condeff2-no-1 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-2) ) ) (:action WAIT_CB3-condeff3-yes :parameters () :precondition (and (do-WAIT_CB3-condeffs) (CLOSED-SD12) (CLOSED-SD10) ) :effect (and (done-3) (NOT-CLOSED-CB3) (not (CLOSED-CB3)) ) ) (:action WAIT_CB3-condeff3-no-0 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD12) ) :effect (and (done-3) ) ) (:action WAIT_CB3-condeff3-no-1 :parameters () :precondition (and (do-WAIT_CB3-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-3) ) ) (:action WAIT_CB3-endof-condeffs :parameters () :precondition (and (do-WAIT_CB3-condeffs) (done-0) (done-1) (done-2) (done-3) ) :effect (and (do-normal) (not (do-WAIT_CB3-condeffs)) (not (done-0)) (not (done-1)) (not (done-2)) (not (done-3)) ) ) (:action WAIT_CB2 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB2) ) :effect (and (NOT-CLOSED-CB2) (UPDATED-CB2) (not (CLOSED-CB2)) (not (NOT-UPDATED-CB2)) ) ) (:action WAIT_CB1 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB1) ) :effect (and (not (do-normal)) (do-WAIT_CB1-condeffs) (UPDATED-CB1) (not (NOT-UPDATED-CB1)) ) ) (:action WAIT_CB1-condeff0-yes :parameters () :precondition (and (do-WAIT_CB1-condeffs) (CLOSED-SD1) ) :effect (and (done-0) (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action WAIT_CB1-condeff0-no-0 :parameters () :precondition (and (do-WAIT_CB1-condeffs) (NOT-CLOSED-SD1) ) :effect (and (done-0) ) ) (:action WAIT_CB1-endof-condeffs :parameters () :precondition (and (do-WAIT_CB1-condeffs) (done-0) ) :effect (and (do-normal) (not (do-WAIT_CB1-condeffs)) (not (done-0)) ) ) )