(define (domain grounded-STRIPS-PSR) (:requirements :strips ) (:predicates (NOT-CLOSED-CB1) (UPDATED-CB1) (NOT-CLOSED-CB2) (UPDATED-CB2) (CLOSED-SD2) (NOT-CLOSED-SD1) (NOT-CLOSED-SD3) (NOT-CLOSED-SD4) (NOT-CLOSED-SD5) (NOT-CLOSED-SD6) (CLOSED-CB2) (CLOSED-CB1) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD3) (CLOSED-SD1) (NOT-CLOSED-SD2) (NOT-UPDATED-CB2) (NOT-UPDATED-CB1) (do-CLOSE_SD6-condeffs) (do-CLOSE_SD5-condeffs) (do-CLOSE_SD1-condeffs) (do-WAIT_CB2-condeffs) (do-WAIT_CB1-condeffs) (do-normal) (done-0) ) (:action CLOSE_SD6 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) ) :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-SD5) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD6-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-SD5) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD6-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD6-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD6-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD5 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) ) :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-SD6) (CLOSED-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD5-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-SD6) ) :effect (and (done-0) ) ) (:action CLOSE_SD5-condeff0-no-1 :parameters () :precondition (and (do-CLOSE_SD5-condeffs) (NOT-CLOSED-CB2) ) :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) ) :effect (and (CLOSED-SD4) (not (NOT-CLOSED-SD4)) ) ) (:action CLOSE_SD3 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (CLOSED-SD3) (not (NOT-CLOSED-SD3)) ) ) (:action CLOSE_SD1 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD1) (UPDATED-CB1) (UPDATED-CB2) ) :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_CB2 :parameters () :precondition (and (do-normal) (NOT-CLOSED-CB2) (UPDATED-CB1) (UPDATED-CB2) ) :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) ) :effect (and (CLOSED-CB1) (NOT-UPDATED-CB1) (not (NOT-CLOSED-CB1)) (not (UPDATED-CB1)) ) ) (:action OPEN-SD6 :parameters () :precondition (and (do-normal) (CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-SD6) (not (CLOSED-SD6)) ) ) (:action OPEN-SD5 :parameters () :precondition (and (do-normal) (CLOSED-SD5) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-SD5) (not (CLOSED-SD5)) ) ) (:action OPEN-SD4 :parameters () :precondition (and (do-normal) (CLOSED-SD4) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-SD4) (not (CLOSED-SD4)) ) ) (:action OPEN-SD3 :parameters () :precondition (and (do-normal) (CLOSED-SD3) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-SD3) (not (CLOSED-SD3)) ) ) (:action OPEN-SD2 :parameters () :precondition (and (do-normal) (CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-SD2) (not (CLOSED-SD2)) ) ) (:action OPEN-SD1 :parameters () :precondition (and (do-normal) (CLOSED-SD1) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-SD1) (not (CLOSED-SD1)) ) ) (:action OPEN-CB2 :parameters () :precondition (and (do-normal) (CLOSED-CB2) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action OPEN-CB1 :parameters () :precondition (and (do-normal) (CLOSED-CB1) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (NOT-CLOSED-CB1) (not (CLOSED-CB1)) ) ) (:action CLOSE_SD2 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD2) (UPDATED-CB1) (UPDATED-CB2) ) :effect (and (CLOSED-SD2) (not (NOT-CLOSED-SD2)) ) ) (: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-SD6) (CLOSED-SD5) ) :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-SD6) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff0-no-1 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD5) ) :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 (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)) ) ) )