(define (domain grounded-STRIPS-PSR) (:requirements :strips ) (:predicates (NOT-CLOSED-CB1) (UPDATED-CB1) (NOT-CLOSED-CB2) (UPDATED-CB2) (NOT-CLOSED-CB3) (UPDATED-CB3) (NOT-CLOSED-CB4) (UPDATED-CB4) (NOT-CLOSED-CB5) (UPDATED-CB5) (NOT-CLOSED-CB6) (UPDATED-CB6) (CLOSED-SD6) (CLOSED-SD7) (CLOSED-SD8) (CLOSED-SD14) (CLOSED-SD20) (CLOSED-SD35) (NOT-CLOSED-SD1) (NOT-CLOSED-SD2) (NOT-CLOSED-SD3) (NOT-CLOSED-SD4) (NOT-CLOSED-SD5) (NOT-CLOSED-SD9) (NOT-CLOSED-SD10) (NOT-CLOSED-SD11) (NOT-CLOSED-SD12) (NOT-CLOSED-SD13) (NOT-CLOSED-SD15) (NOT-CLOSED-SD16) (NOT-CLOSED-SD17) (NOT-CLOSED-SD18) (NOT-CLOSED-SD19) (NOT-CLOSED-SD21) (NOT-CLOSED-SD22) (NOT-CLOSED-SD23) (NOT-CLOSED-SD24) (NOT-CLOSED-SD25) (NOT-CLOSED-SD26) (NOT-CLOSED-SD27) (NOT-CLOSED-SD28) (NOT-CLOSED-SD29) (NOT-CLOSED-SD30) (NOT-CLOSED-SD31) (NOT-CLOSED-SD32) (NOT-CLOSED-SD33) (NOT-CLOSED-SD34) (NOT-CLOSED-SD36) (NOT-CLOSED-SD37) (CLOSED-CB6) (CLOSED-CB5) (CLOSED-SD37) (CLOSED-SD36) (CLOSED-SD34) (CLOSED-SD33) (CLOSED-SD32) (CLOSED-SD31) (CLOSED-SD30) (CLOSED-SD29) (CLOSED-SD28) (CLOSED-SD27) (CLOSED-SD26) (CLOSED-SD25) (CLOSED-SD24) (CLOSED-SD23) (CLOSED-SD22) (CLOSED-SD21) (CLOSED-SD19) (CLOSED-SD18) (CLOSED-SD17) (CLOSED-SD16) (CLOSED-SD15) (CLOSED-SD13) (CLOSED-SD12) (CLOSED-SD11) (CLOSED-SD10) (CLOSED-SD9) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD2) (CLOSED-SD1) (CLOSED-CB4) (CLOSED-CB3) (CLOSED-CB2) (CLOSED-CB1) (NOT-CLOSED-SD35) (NOT-CLOSED-SD20) (NOT-CLOSED-SD14) (NOT-CLOSED-SD8) (NOT-CLOSED-SD7) (NOT-CLOSED-SD6) (NOT-UPDATED-CB6) (NOT-UPDATED-CB5) (NOT-UPDATED-CB4) (NOT-UPDATED-CB3) (NOT-UPDATED-CB2) (NOT-UPDATED-CB1) (do-CLOSE_SD36-condeffs) (do-CLOSE_SD30-condeffs) (do-CLOSE_SD29-condeffs) (do-CLOSE_SD28-condeffs) (do-WAIT_CB6-condeffs) (do-WAIT_CB5-condeffs) (do-normal) (done-0) (done-1) ) (:action CLOSE_SD37 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD37) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD37) (not (NOT-CLOSED-SD37)) ) ) (:action CLOSE_SD36 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD36) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD36-condeffs) (CLOSED-SD36) (not (NOT-CLOSED-SD36)) ) ) (:action CLOSE_SD36-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD36-condeffs) (CLOSED-CB6) ) :effect (and (done-0) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action CLOSE_SD36-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD36-condeffs) (NOT-CLOSED-CB6) ) :effect (and (done-0) ) ) (:action CLOSE_SD36-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD36-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD36-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD34 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD34) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD34) (not (NOT-CLOSED-SD34)) ) ) (:action CLOSE_SD33 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD33) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD33) (not (NOT-CLOSED-SD33)) ) ) (:action CLOSE_SD32 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD32) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD32) (not (NOT-CLOSED-SD32)) ) ) (:action CLOSE_SD31 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD31) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD31) (not (NOT-CLOSED-SD31)) ) ) (:action CLOSE_SD30 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD30) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD30-condeffs) (CLOSED-SD30) (not (NOT-CLOSED-SD30)) ) ) (:action CLOSE_SD30-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD30-condeffs) (CLOSED-SD29) (CLOSED-CB5) ) :effect (and (done-0) (NOT-CLOSED-CB5) (not (CLOSED-CB5)) ) ) (:action CLOSE_SD30-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD30-condeffs) (NOT-CLOSED-SD29) ) :effect (and (done-0) ) ) (:action CLOSE_SD30-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD30-condeffs) (NOT-CLOSED-CB5) ) :effect (and (done-0) ) ) (:action CLOSE_SD30-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD30-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD30-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD29 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD29) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD29-condeffs) (CLOSED-SD29) (not (NOT-CLOSED-SD29)) ) ) (:action CLOSE_SD29-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD29-condeffs) (CLOSED-SD30) (CLOSED-CB5) ) :effect (and (done-0) (NOT-CLOSED-CB5) (not (CLOSED-CB5)) ) ) (:action CLOSE_SD29-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD29-condeffs) (NOT-CLOSED-SD30) ) :effect (and (done-0) ) ) (:action CLOSE_SD29-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD29-condeffs) (NOT-CLOSED-CB5) ) :effect (and (done-0) ) ) (:action CLOSE_SD29-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD29-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD29-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD28 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD28) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (not (do-normal)) (do-CLOSE_SD28-condeffs) (CLOSED-SD28) (not (NOT-CLOSED-SD28)) ) ) (:action CLOSE_SD28-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD28-condeffs) (CLOSED-CB5) ) :effect (and (done-0) (NOT-CLOSED-CB5) (not (CLOSED-CB5)) ) ) (:action CLOSE_SD28-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD28-condeffs) (NOT-CLOSED-CB5) ) :effect (and (done-0) ) ) (:action CLOSE_SD28-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD28-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD28-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD27 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD27) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD27) (not (NOT-CLOSED-SD27)) ) ) (:action CLOSE_SD26 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD26) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD26) (not (NOT-CLOSED-SD26)) ) ) (:action CLOSE_SD25 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD25) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD25) (not (NOT-CLOSED-SD25)) ) ) (:action CLOSE_SD24 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD24) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD24) (not (NOT-CLOSED-SD24)) ) ) (:action CLOSE_SD23 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD23) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD23) (not (NOT-CLOSED-SD23)) ) ) (:action CLOSE_SD22 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD22) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD22) (not (NOT-CLOSED-SD22)) ) ) (:action CLOSE_SD21 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD21) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD21) (not (NOT-CLOSED-SD21)) ) ) (:action CLOSE_SD19 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD19) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD19) (not (NOT-CLOSED-SD19)) ) ) (:action CLOSE_SD18 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD18) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD18) (not (NOT-CLOSED-SD18)) ) ) (:action CLOSE_SD17 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD17) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD17) (not (NOT-CLOSED-SD17)) ) ) (:action CLOSE_SD16 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD16) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD16) (not (NOT-CLOSED-SD16)) ) ) (:action CLOSE_SD15 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD15) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD15) (not (NOT-CLOSED-SD15)) ) ) (:action CLOSE_SD13 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD13) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD13) (not (NOT-CLOSED-SD13)) ) ) (:action CLOSE_SD12 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD12) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD12) (not (NOT-CLOSED-SD12)) ) ) (:action CLOSE_SD11 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD11) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD11) (not (NOT-CLOSED-SD11)) ) ) (:action CLOSE_SD10 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD10) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD10) (not (NOT-CLOSED-SD10)) ) ) (:action CLOSE_SD9 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD9) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD9) (not (NOT-CLOSED-SD9)) ) ) (:action CLOSE_SD5 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD4) (not (NOT-CLOSED-SD4)) ) ) (:action CLOSE_SD3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD1) (not (NOT-CLOSED-SD1)) ) ) (:action CLOSE_CB6 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-CB6) (NOT-UPDATED-CB6) (not (NOT-CLOSED-CB6)) (not (UPDATED-CB6)) ) ) (:action CLOSE_CB5 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-CB5) (NOT-UPDATED-CB5) (not (NOT-CLOSED-CB5)) (not (UPDATED-CB5)) ) ) (:action CLOSE_CB4 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-CB4) (NOT-UPDATED-CB4) (not (NOT-CLOSED-CB4)) (not (UPDATED-CB4)) ) ) (:action CLOSE_CB3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB3) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-CB1) (NOT-UPDATED-CB1) (not (NOT-CLOSED-CB1)) (not (UPDATED-CB1)) ) ) (:action OPEN-SD37 :parameters () :precondition (and (do-normal) (CLOSED-SD37) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD37) (not (CLOSED-SD37)) ) ) (:action OPEN-SD36 :parameters () :precondition (and (do-normal) (CLOSED-SD36) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD36) (not (CLOSED-SD36)) ) ) (:action OPEN-SD35 :parameters () :precondition (and (do-normal) (CLOSED-SD35) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD35) (not (CLOSED-SD35)) ) ) (:action OPEN-SD34 :parameters () :precondition (and (do-normal) (CLOSED-SD34) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD34) (not (CLOSED-SD34)) ) ) (:action OPEN-SD33 :parameters () :precondition (and (do-normal) (CLOSED-SD33) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD33) (not (CLOSED-SD33)) ) ) (:action OPEN-SD32 :parameters () :precondition (and (do-normal) (CLOSED-SD32) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD32) (not (CLOSED-SD32)) ) ) (:action OPEN-SD31 :parameters () :precondition (and (do-normal) (CLOSED-SD31) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD31) (not (CLOSED-SD31)) ) ) (:action OPEN-SD30 :parameters () :precondition (and (do-normal) (CLOSED-SD30) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD30) (not (CLOSED-SD30)) ) ) (:action OPEN-SD29 :parameters () :precondition (and (do-normal) (CLOSED-SD29) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD29) (not (CLOSED-SD29)) ) ) (:action OPEN-SD28 :parameters () :precondition (and (do-normal) (CLOSED-SD28) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD28) (not (CLOSED-SD28)) ) ) (:action OPEN-SD27 :parameters () :precondition (and (do-normal) (CLOSED-SD27) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD27) (not (CLOSED-SD27)) ) ) (:action OPEN-SD26 :parameters () :precondition (and (do-normal) (CLOSED-SD26) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD26) (not (CLOSED-SD26)) ) ) (:action OPEN-SD25 :parameters () :precondition (and (do-normal) (CLOSED-SD25) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD25) (not (CLOSED-SD25)) ) ) (:action OPEN-SD24 :parameters () :precondition (and (do-normal) (CLOSED-SD24) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD24) (not (CLOSED-SD24)) ) ) (:action OPEN-SD23 :parameters () :precondition (and (do-normal) (CLOSED-SD23) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD23) (not (CLOSED-SD23)) ) ) (:action OPEN-SD22 :parameters () :precondition (and (do-normal) (CLOSED-SD22) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD22) (not (CLOSED-SD22)) ) ) (:action OPEN-SD21 :parameters () :precondition (and (do-normal) (CLOSED-SD21) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD21) (not (CLOSED-SD21)) ) ) (:action OPEN-SD20 :parameters () :precondition (and (do-normal) (CLOSED-SD20) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD20) (not (CLOSED-SD20)) ) ) (:action OPEN-SD19 :parameters () :precondition (and (do-normal) (CLOSED-SD19) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-SD19) (not 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:parameters () :precondition (and (do-normal) (CLOSED-CB6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action OPEN-CB5 :parameters () :precondition (and (do-normal) (CLOSED-CB5) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-CB5) (not (CLOSED-CB5)) ) ) (:action OPEN-CB4 :parameters () :precondition (and (do-normal) (CLOSED-CB4) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action CLOSE_SD35 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD35) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD35) (not (NOT-CLOSED-SD35)) ) ) (:action CLOSE_SD20 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD20) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD20) (not (NOT-CLOSED-SD20)) ) ) (:action CLOSE_SD14 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD14) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD14) (not (NOT-CLOSED-SD14)) ) ) (:action CLOSE_SD8 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD8) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :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) (UPDATED-CB4) (UPDATED-CB5) (UPDATED-CB6) ) :effect (and (CLOSED-SD6) (not (NOT-CLOSED-SD6)) ) ) (:action WAIT_CB6 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB6) ) :effect (and (not (do-normal)) (do-WAIT_CB6-condeffs) (UPDATED-CB6) (not (NOT-UPDATED-CB6)) ) ) (:action WAIT_CB6-condeff0-yes :parameters () :precondition (and (do-WAIT_CB6-condeffs) (CLOSED-SD36) ) :effect (and (done-0) (NOT-CLOSED-CB6) (not (CLOSED-CB6)) ) ) (:action 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:parameters () :precondition (and (do-WAIT_CB5-condeffs) (NOT-CLOSED-SD30) ) :effect (and (done-1) ) ) (:action WAIT_CB5-condeff1-no-1 :parameters () :precondition (and (do-WAIT_CB5-condeffs) (NOT-CLOSED-SD29) ) :effect (and (done-1) ) ) (:action WAIT_CB5-endof-condeffs :parameters () :precondition (and (do-WAIT_CB5-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-WAIT_CB5-condeffs)) (not (done-0)) (not (done-1)) ) ) (:action WAIT_CB4 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB4) ) :effect (and (NOT-CLOSED-CB4) (UPDATED-CB4) (not (CLOSED-CB4)) (not (NOT-UPDATED-CB4)) ) ) (:action WAIT_CB3 :parameters () :precondition (and (do-normal) (NOT-UPDATED-CB3) ) :effect (and (NOT-CLOSED-CB3) (UPDATED-CB3) (not (CLOSED-CB3)) (not (NOT-UPDATED-CB3)) ) ) (: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-CLOSED-CB1) (UPDATED-CB1) (not (CLOSED-CB1)) (not (NOT-UPDATED-CB1)) ) ) )