(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) (CLOSED-SD3) (CLOSED-SD7) (CLOSED-SD9) (CLOSED-SD11) (CLOSED-SD16) (NOT-CLOSED-SD1) (NOT-CLOSED-SD2) (NOT-CLOSED-SD4) (NOT-CLOSED-SD5) (NOT-CLOSED-SD6) (NOT-CLOSED-SD8) (NOT-CLOSED-SD10) (NOT-CLOSED-SD12) (NOT-CLOSED-SD13) (NOT-CLOSED-SD14) (NOT-CLOSED-SD15) (NOT-CLOSED-SD17) (NOT-CLOSED-SD18) (NOT-CLOSED-SD19) (NOT-CLOSED-SD20) (NOT-CLOSED-SD21) (CLOSED-CB4) (CLOSED-CB2) (CLOSED-SD21) (CLOSED-SD20) (CLOSED-SD19) (CLOSED-SD18) (CLOSED-SD17) (CLOSED-SD15) (CLOSED-SD14) (CLOSED-SD13) (CLOSED-SD12) (CLOSED-SD10) (CLOSED-SD8) (CLOSED-SD6) (CLOSED-SD5) (CLOSED-SD4) (CLOSED-SD2) (CLOSED-SD1) (CLOSED-CB3) (CLOSED-CB1) (NOT-CLOSED-SD16) (NOT-CLOSED-SD11) (NOT-CLOSED-SD9) (NOT-CLOSED-SD7) (NOT-CLOSED-SD3) (NOT-UPDATED-CB4) (NOT-UPDATED-CB3) (NOT-UPDATED-CB2) (NOT-UPDATED-CB1) (do-CLOSE_SD21-condeffs) (do-CLOSE_SD18-condeffs) (do-CLOSE_SD10-condeffs) (do-CLOSE_SD8-condeffs) (do-WAIT_CB4-condeffs) (do-WAIT_CB2-condeffs) (do-normal) (done-0) (done-1) ) (:action CLOSE_SD21 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD21) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (not (do-normal)) (do-CLOSE_SD21-condeffs) (CLOSED-SD21) (not (NOT-CLOSED-SD21)) ) ) (:action CLOSE_SD21-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD21-condeffs) (CLOSED-CB4) ) :effect (and (done-0) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD21-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD21-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-0) ) ) (:action CLOSE_SD21-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD21-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD21-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD20 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD20) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD20) (not (NOT-CLOSED-SD20)) ) ) (:action CLOSE_SD19 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD19) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :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) ) :effect (and (not (do-normal)) (do-CLOSE_SD18-condeffs) (CLOSED-SD18) (not (NOT-CLOSED-SD18)) ) ) (:action CLOSE_SD18-condeff0-yes :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (CLOSED-CB4) ) :effect (and (done-0) (NOT-CLOSED-CB4) (not (CLOSED-CB4)) ) ) (:action CLOSE_SD18-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (NOT-CLOSED-CB4) ) :effect (and (done-0) ) ) (:action CLOSE_SD18-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD18-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD18-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD17 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD17) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD17) (not (NOT-CLOSED-SD17)) ) ) (: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_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_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-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD10-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD10-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD10-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD10-condeffs)) (not (done-0)) ) ) (: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-CB2) ) :effect (and (done-0) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action CLOSE_SD8-condeff0-no-0 :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (NOT-CLOSED-CB2) ) :effect (and (done-0) ) ) (:action CLOSE_SD8-endof-condeffs :parameters () :precondition (and (do-CLOSE_SD8-condeffs) (done-0) ) :effect (and (do-normal) (not (do-CLOSE_SD8-condeffs)) (not (done-0)) ) ) (:action CLOSE_SD6 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD6) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD6) (not (NOT-CLOSED-SD6)) ) ) (: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 (CLOSED-SD4) (not (NOT-CLOSED-SD4)) ) ) (: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 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-SD21 :parameters () :precondition (and (do-normal) (CLOSED-SD21) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :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) ) :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) ) :effect (and (NOT-CLOSED-SD19) (not (CLOSED-SD19)) ) ) (:action OPEN-SD18 :parameters () :precondition (and (do-normal) (CLOSED-SD18) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD18) (not (CLOSED-SD18)) ) ) (:action OPEN-SD17 :parameters () :precondition (and (do-normal) (CLOSED-SD17) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (NOT-CLOSED-SD17) (not (CLOSED-SD17)) ) ) (: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_SD16 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD16) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD16) (not (NOT-CLOSED-SD16)) ) ) (:action CLOSE_SD11 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD11) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD11) (not (NOT-CLOSED-SD11)) ) ) (:action CLOSE_SD9 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD9) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD9) (not (NOT-CLOSED-SD9)) ) ) (:action CLOSE_SD7 :parameters () :precondition (and (do-normal) (NOT-CLOSED-SD7) (UPDATED-CB1) (UPDATED-CB2) (UPDATED-CB3) (UPDATED-CB4) ) :effect (and (CLOSED-SD7) (not (NOT-CLOSED-SD7)) ) ) (: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-SD18) ) :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-SD18) ) :effect (and (done-0) ) ) (:action WAIT_CB4-condeff1-yes :parameters () :precondition (and (do-WAIT_CB4-condeffs) (CLOSED-SD21) ) :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-SD21) ) :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_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 (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-SD8) ) :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-SD8) ) :effect (and (done-0) ) ) (:action WAIT_CB2-condeff1-yes :parameters () :precondition (and (do-WAIT_CB2-condeffs) (CLOSED-SD10) ) :effect (and (done-1) (NOT-CLOSED-CB2) (not (CLOSED-CB2)) ) ) (:action WAIT_CB2-condeff1-no-0 :parameters () :precondition (and (do-WAIT_CB2-condeffs) (NOT-CLOSED-SD10) ) :effect (and (done-1) ) ) (:action WAIT_CB2-endof-condeffs :parameters () :precondition (and (do-WAIT_CB2-condeffs) (done-0) (done-1) ) :effect (and (do-normal) (not (do-WAIT_CB2-condeffs)) (not (done-0)) (not (done-1)) ) ) (: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)) ) ) )